Control Of Tooth Arrangement Robot Based On DSP

Nowadays the manufacture of complete denture all depends on handwork and the assistance of simple tools, and its accuracy and manufacturing speed can't satisfy the needs of the modern society. For this reason, we carried out the research of"The Manufacture of Tooth Arrangement Robot System Use the Multi-task Operators". We bring forward a kind of new method to combine oral restoration technology with modern robot technology which can give the numerical and rational operation on the process of complete denture manufacture.This thesis develops a controller and driver for the tooth arrange robot based on TMS320LF2407A for the multi-task tooth arrange operators. The controller acquires the displacement and direction signals of step motor through SCI communication with upper machine. It uses the event manager modules of TMS320LF 2407A to generate symmetric PWM waveform for driving step motor. It changes the frequency and duty time characters of output PWM waveform through changing the carrier wave period and timer values of TMS320LF2407A.Thus decreasing the using ratio of CPU, the controller has rapid response speed. It uses the integrate step motor translator and driver chip UNC5804B to complete the annular distribution and power magnify of signals, and realizes the rotate speed and direction control of step motor.In order to simplify the design of application program and make full use of the system resources, this design transplants the Real Time Operation SystemμC/ OS- II into the TMS320LF2407A. It uses advanced computer language to develop the corresponding task programs according to the work circumstance of the tooth arrangement robot, which increases system's real time ability and the realibility, and makes it easy to be maintained.The controller uses the I/O coding technology to divide 50 step motors into 8 groups to drive, fulfills the coordination control of 50 electrical step motors, and enables many step motors simultaneity. It uses 3 8259A to deal with the interrupt signals when the step motors reach their limit positions and their demarcate positions. This guarantees the accuracy of the system up to 0.6mm; limits the response time lower than 0.1s, and attain the design request.This design carries out the automation operation of the oral restoration subject, equal to train a lot of superb dentistry expert in a short time, thus raising the rate of production and lowering the cost of knowledge re-impartation, promote the development of the tooth medical science. The step motor controller and driver we designed have a good quality, high accuracy, good reliability and high rate of performance to price. Been used in the operation of complete denture this system will greatly raise the rate of production and the quality of the product, and will have a good practical value and an expansive application perspective.