Research On The Manipulator's Closed-loop Control Method Based On DSP

This paper implements a closed_loop control for manipulator speed on the basis of the 4-DOF manipulator. Its hardware circuit and system software are researched and designed based on the control core TMS320F240 EVM board.Firstly, the paper describes the current situation and prospects of the manipulator, servo control system and DSP controller. And it introduces the basic structure and working principle of the control object (the manipulator and AC servo control) and detecting element (the Photoelectric Encoder).Then the paper detailedly introduces the control chip TMS320F240 and mainly describes the used module in this subject. Then the paper analysises and researches the hardware circuits based on control core TMS320F240 and introduces the function and working principle of every function circuit. And the software of the closed-loop speed control system is analysised and designed. The system software is divided into several functional modules in this paper. The paper introduces the functions of every function module as well as the working principles. The corresponding control programs are compiled and the paper gives the program flow chart of every function module.In the end, the control result of system is analysised and some improvement measures are presented. The article gives a summary of this subject and makes some improvement ideas to the direction of future research.