| 机器人关节电机功率放大器的设计与实现 |
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| 引用本文： | 潘炼东,黄心汉.机器人关节电机功率放大器的设计与实现[J].华中科技大学学报(自然科学版),2004,32(12):46-48. |
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| 作者姓名： | 潘炼东 黄心汉 |
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| 作者单位： | 华中科技大学,控制科学与工程系,湖北,武汉,430074;华中科技大学,控制科学与工程系,湖北,武汉,430074 |
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| 摘 要： | 研究了用于Movemaster-EX机器人的一种高性能低成本的电机功率放大器，对其中的关键问题进行了讨论，给出了一种简单实用的电流控制方法，通过运动控制实验验证了放大器的性能，实验结果表明，放大器可以较好地满足系统的要求，结构简单，成本低，对其他系统设计有一定的参考价值。
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| 关 键 词： | 机器人 脉宽调制 功率放大 MOSFET |
| 文章编号： | 1671-4512(2004)12-0046-03 |
| 修稿时间： | 2004年3月15日 |
Design of a power amplifier and its implementation for robot joint motors |
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| Pan Liandong Huang Xinhan Pan Liandong Doctoral Candidate, Dept. of Contr. Sci. & Eng. Huazhong Univ. of Sci. & Tech.,Wuhan ,China..Design of a power amplifier and its implementation for robot joint motors[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004,32(12):46-48. |
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| Authors: | Pan Liandong Huang Xinhan Pan Liandong Doctoral Candidate Dept of Contr Sci & Eng Huazhong Univ of Sci & Tech Wuhan China |
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| Institution: | Pan Liandong Huang Xinhan Pan Liandong Doctoral Candidate, Dept. of Contr. Sci. & Eng. Huazhong Univ. of Sci. & Tech.,Wuhan 430074,China. |
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| Abstract: | The design of a power amplifier for the Movemaster-EX robot was presented. Some key problems were discussed and a method for current control proposed. The motion control experiments were carried out to test the amplifier. The results indicated that the amplifier could meet the control requirements with simple configuration and low cost, and should be helpful to the designs of other systems. |
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| Keywords: | robot pulse width modulation power amplification MOSFET |
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