"工业机器人远程控制系统设计——嵌入式伺服控制器硬件与软件设计"

本文是一篇工学学士论文，题为《工业机器人遥操作控制系统设计——嵌入式伺服控制器设计》。随着科技的发展，机器人在工业和生活中的应用越来越广泛。本课题旨在设计工业机器人的遥操作控制系统，主要包括嵌入式伺服控制器的设计。通过处理上位机命令和反馈信号，实现对工业机器人的有线遥控及运动轨迹的示教再现。该设计主要由硬件设计和软件设计两方面组成。 在硬件方面，本设计采用了 TI 公司的 MSP430 系列超低功耗混合信号控制器 MSP430F449作为微处理器，采用 CAN 总线与上位机进行通讯，通过隔离放大信号实现对驱动器的控制并采集光电编码器反馈的信号。在软件部分，主要包括主程序、总线通讯程序和自动控制程序等。整体设计综合了多方面的专业知识，利用嵌入式系统提升了机器人的控制性能，通过硬件实现控制算法，同时完成任务的合理调度、实时控制和通信功能，从而促进了机器人和工业的全面接轨。 关键词：工业机器人；控制器；嵌入式 Abstract This bachelor's thesis focuses on the design of an industrial robot's remote control system, specifically the design of an embedded servo controller. With the rapid development of technology, robots are increasingly being applied in various industrial and domestic settings. This study aims to develop a remote control system for industrial robots, with a focus on the design of an embedded servo controller. The system is designed to process commands from the upper computer and feedback signals to achieve wired remote control and reproduction of motion trajectories. The design consists of two main components: hardware and software. In terms of hardware, the system employs the MSP430F449, a low-power mixed-signal controller from TI, as the microprocessor. It utilizes the CAN bus to communicate with the upper computer, and uses isolation amplification to control the driver and collect feedback signals from the photoelectric encoder. The software includes the main program, bus communication program, and automatic control program, among others. The comprehensive design integrates various professional knowledge and utilizes embedded systems to improve the control performance of robots. It implements control algorithms through hardware, while also achieving reasonable task scheduling, real-time control, and communication functions, thus promoting the comprehensive integration of robots and industry. Key words: industrial robot; controller; embedded.