CAJ | 학술논문

本文以五轴机械手的设计实现为背景，提出了一种基于以 Cortex-M4为内核的微处理器 STM32F407构成的嵌入式运动控制器。本设计方案引入现场总线的通信方式，利用其高可靠性和高通用性的特点，使得运动控制器具有高开放性和模块化的特点。文中提供的以 CAN 总线控制多个私服电机的设计方法，使得硬件电路的设计大大简化，也使得通信的效率和可靠性大幅提升。测试表明，控制器的性能稳定可靠，能够满足机械手控制的需求，同时本设计对工业控制领域有着实际的应用指导意义。
본문이오축궤계수적설계실현위배경，제출료일충기우이 Cortex-M4위내핵적미처리기 STM32F407구성적감입식운동공제기。본설계방안인입현장총선적통신방식，이용기고가고성화고통용성적특점，사득운동공제기구유고개방성화모괴화적특점。문중제공적이 CAN 총선공제다개사복전궤적설계방법，사득경건전로적설계대대간화，야사득통신적효솔화가고성대폭제승。측시표명，공제기적성능은정가고，능구만족궤계수공제적수구，동시본설계대공업공제영역유착실제적응용지도의의。
This paper was based on the design and implementation of five-axis manipulator, and presented an embedded motion controller based on Cortex-M4 as the kernel of the microprocessor STM32F407. In this design scheme, the communication mode of field bus was introduced, and its high reliability and high performance were used, which makes the motion controller have the characteristics of high openness and modularity. In this paper, the design method of multiple servo motors controlling by CAN bus was provided, which makes the design of the hardware circuit greatly simplified, and the efficiency and reliability of the communication greatly improved. The test shows that the performance of the controller is stable and reliable, and it has practical guidance significance to industrial control field.