本科毕业论文-基于单片机的多自由度机械手臂控制器设计

唐山学院毕业设计设计题目：基于单片机的多自由度机械手臂控制器设计系别：信息工程系班级：11电气工程及其自动化3班姓名：刘亮指导教师：田红霞2015年6月1日基于单片机的多自由度机械手臂控制器设计摘要机械臂控制器作为机械臂的大脑，对于它的研究有着十分重要的意义。随着微电子技术和控制方法的不断进步，以单片机作为控制器的控制系统越来越成熟。本课题正是基于单片机的机械臂控制系统的研究。本文首先介绍了国内外机械臂发展状况以及控制系统的发展状况。其次，阐述了四自由度机械手臂控制系统的硬件电路设计及软件实现。详细阐述了机械臂控制系统中单片机及其外围电路设计、电源电路设计和舵机驱动电路设计。在程序设计中，着重介绍了利用微分插补法进行PWM调速的程序设计。并给出了控制器软件设计及流程图。最后，给出了系统调试中出现的软硬件问题，进行了详细的分析并给出了相应的解决办法。关键词：机械臂单片机自由度舵机PWMDesignofMultiDOFManipulatorControllerBasedonMCUAbstractAsthebrainofrobotarm,manipulatorcontrollerisveryimportantforitsresearch.Withthedevelopmentofmicroelectronicstechnologyandcontrolmethod,thecontrolsystemofMCUisbecomingmoreandmoremature.ThisthesisisbasedontheresearchofthemanipulatorcontrolsystemofMCU.Firstly,itisintroducedthedevelopmentofthemanipulatorandthecontrolsystemathomeandabroad.Secondly,itisgiventhecircuitandsoftwaredesignforthefourDOFmanipulatorinthisdisertation.itisexpatiatedtheSingleChipMicrocomputer(SCM),therelativecircuitdesign,Powercircuitdesign,anddrivercircuitdesignofmanipulatorcontrolsystem.Inthedesignoftheprogram,thedesignofPWMspeedregulationbydifferentialinterpolationisintroducedemphatically.Thesoftwaredesignandflowchartofthecontrolleraregiven.Finally,itispresentedtheproblemsofhardwareandsoftwareinpractivegivenresolves.Keyword:Manipulator;MCU;DOF;Steeringengine;PWM目录1引言.................................................................................................................................11.1研究的背景和意义...............................................................................................11.2国内外机械臂研究现状.......................................................................................21.2.1国外机械臂研究现状.................................................................................21.2.2国内机械臂研究现状.................................................................................31.3机械臂控制器的发展现状...................................................................................31.4本设计研究的任务...............................................................................................42机械结构与控制系统概述.............................................................................................52.1机械结构...............................................................................................................52.2控制系统...............................................................................................................62.3系统功能介绍.......................................................................................................82.4舵机工作原理与控制方法...................................................................................82.4.1概述.............................................................................................................82.4.2舵机的组成.................................................................................................82.4.3舵机工作原理.............................................................................................93系统硬件电路设计.......................................................................................................113.1时钟电路设计.....................................................................................................113.2复位电路设计.....................................................................................................113.3控制器电源电路设计.........................................................................................123.4舵机驱动电路.....................................................................................................133.5串口通信电路设计.............................................................................................134系统软件设计...............................................................................................................144.1四自由机械臂轨迹规划.....................................................................................154.2主程序设计.........................................................................................................164.3舵机调速程序设计.............................................................................................174.3.1舵机PWM信号........................................................................................174.3.2利用微分插补法实现对多路PWM信号的输出....................................184.4初末位置置换子程序.........................................................................................214.5机械爪控制程序.................................................................................................224.6定时器中断子程序.............................................................................................234.6.1定时器T1中断程序.................................................................................234.6.2定时器T0中断子程序.............................................................................245系统软硬件调试...........................................................................................................255.1单片机系统开发调试工具.................................................................................255.1.1编程器....................................................................................