基于MatlabRTW的机器人伺服系统

本文提出一种基于MatlabRTW的机器人伺服系统的设计方案。基于五自由度排爆机器人，通过SIMULINK软件设计出机器人控制系统框图，并通过xPC目标系统编译，生成可运行于X86的实时控制系统。该系统采用一组PID复合控制器，具有专家特性。运行结果表明，该方案能取得良好的效果: 在较大载荷范围内，机器人都能运动平稳，系统具有很好的鲁棒性，实时性。

The Servo System of Robot Based on MatlabRTW

A servo system designed for Robot based on MatlabRTW is presented in this paper. Based on anti-riot robot with 5 degrees of freedom, the diagram of the servo system is designed by using SIMULINK. It's compiled into a real-time system running on X86 computer through xPC target system. With a set of PID complex controller, this system has the character of expert. Application results demonstrate that this method makes good effect: the robot runs placidly in the area of much load, and the system is much robust and real-time.