基于dSPACE并行处理平台的宏-微机器人控制系统

基于dSPACE并行处理平台研制了四自由度激光作业的宏=微机器人及其控制系统，系统结构开放，运行可靠、计算性能高，并且可以将实时控制与实时仿真相融合，实现了与MATLAB的无缝连接，宏机械手的关节位置测量采用30对级的多级旋转变压器，微机械手关节位置测量采用电容式位置传感器，通过PHS（peripheral high speed）总线接口采样关节位置，输出控制力矩，驱动电路采用双极性H桥型脉宽调制（PWM）功放，为了保证机器人运动的安全性，功放电路中设计了过流保护，电流以负反馈和电源连锁电路。

Research and Implementation of Macro-micro Manipulator Control System Based on dSPACE Parallel Processor Network

A macro- micro manipulator with four degree of freedom is developed based on dSPACE parallel processor network, and the laser is used in end - point operating, which is opening, reliable and high computed performance. Real time control and real time simulation are combined and the MATLAB file can be loaded to the system. This macro manipulator using a multi - stage rotational transformer with thirty pairs of poles as its position measurement component and the micro manipulator using a capacitive sensor as its position measurement component, peripheral high sqeed bus interface are used for sampling joint position and outputting control torque. Current feedback and power interlock are added in the amplifier to guarantee the.safety and the stability of the control system.