目录摘要·································································································································I第1章绪论·················································································································11.1课题研究背景·······································································································11.2课题研究目的和意义··························································································11.3国内外研究现状及发展趋势··············································································41.3.1人机交互········································································································41.3.2CANopen通讯·································································································41.4本课题的研究内容及论文结构·········································································5第2章电机运行调试····································································································62.1引言·······················································································································72.2电机运行调试·······································································································72.2.1调试电流环····································································································42.2.2调试速度环····································································································42.2.3调试位置环····································································································42.3本章小结···············································································································8第3章机械臂接口通讯···········...
