目前城市化园林在自动化建设和高空作业方面设计出可高空作业机械臂控制系统.机械臂控制系统采用STM32F103RCT6芯片为控制核心,运用电机PID控制器、姿态平衡传感器和三杯式风速传感器三个核心部件组成的传感器控制系统和机械驱动控制,实现机械臂作业反馈和智能避险功能.实验证明,控制系统与臂体融合程度高,具有良好的控制性能.%The control system of manipulator in aloft work has been designed for automation construction and aloft work of urbanization garden.The control system of manipulator has been adopted STM32F103RCT6 chip as the control core, and has been used the sensor control system consisted of three core components of motor PID controller, posture balance sensor and three cups of wind speed sensor and has been controlled by mechanical drive, which can realize the manipulator operation feedback and intelligent hedging function.The experimental results show that the control system has a high degree of integration with the arm body and it has good control performance.
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