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Система управления для робота-манипулятора PUMA

бакалаврская работа
descriptionPublicationkeyboard_double_arrow_right Other literature type 01 Jan 2016 Russian Publisher:Санкт-Петербургский политехнический университет Петра Великого

doi: 10.18720/spbpu/2/v16-1024

Система управления для робота-манипулятора PUMA

Abstract

Разработан состав и конструкция шкафа управления. Разработана система управления манипулятором, включающая в себя систему управления двигателями, учитывающую обратную связь по уже имеющимся датчикам на манипуляторе, и систему управления ÑÑ Ð²Ð°Ñ‚Ð¾Ð¼ с помощью пневмо-распределителей. Были разработаны и разведены печатные платы для управления двигателями постоянного тока, учитывая особенности сервоприводов, ÑƒÑÑ‚Ð°Ð½Ð¾Ð²Ð»ÐµÐ½Ð½Ñ‹Ñ Ð² манипулятор PUMA 560.

A composition and design of the control locker. A manipulator control system, which includes the motor control system, which takes into account feedback on the existing sensors on the robot arm, and grabbed the control system with the help of pneumatic valves. Printed circuit boards for controlling DC motors have been developed and bred, given the characteristics of the servos installed in the PUMA 560 manipulator.

Keywords

манипуляторы, системы управления двигателями, системы управления ÑÑ Ð²Ð°Ñ‚Ð¾Ð¼, printed circuit boards, печатные платы, manipulators, control systems

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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
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