本科毕业答辩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 2 0 2 5 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，对于它的讨论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讨论。本文首先介绍了国内外机械臂进展状况以及控制系统的进展状况。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 PWMDesign of Multi DOF Manipulator Controller Based on MCUAbstractAs the brain of robot arm, manipulator controller is very important for its the development of microelectronics technology and control method, the control system of MCU is becoming more and more thesis is based on the research of the manipulator control system of MCU.Firstly,it is introduced the development of the manipulator and the control system at home and abroad.Secondly,it is given the circuit and software design for the four DOF manipulator in this is expatiated the Single Chip Microcomputer(SCM),the relative circuit design ,Power circuit design,and driver circuit design of manipulator control the design of the program, the design of PWM speed regulation by differential interpolation is introduced emphatically. The software design and flow chart of the controller are ,it is presented the problems of hardware and software in practive given resolves.Key word: Manipula...
