The arm of the humanoid massage robot is an important component of the massage robot, which control system is a key factor of the chinese massage robot for achieving precise position control of the massage position.To realize precise position control of the massage humanoid robot arm,the control system of the massage humanoid robot arm was designed based on PC+PMAC.Then the parameters of PMAC were set and the parameters of PID controller were optimized through the communication of PMAC and PC Based on VC++,the control system software was designed.The simulation and practical application results show that the control system of humanoid massage robot arm can fulfill the design requirements.%仿人按摩机器人手臂是按摩机器人的重要组成部分,其控制系统是中医按摩机器人完成按摩位置精确定位的关键因素.为了实现对仿人按摩机器人手臂精确控制,基于PC+PMAC运动控制卡设计了仿人按摩机器人手臂控制系统.通过PC与PMAC运动控制卡之间的通信对PMAC运动控制卡进行参数设置以及PMAC运动控制卡的PID控制器参数的优化.基于VC++软件开发平台设计了控制系统软件.仿真及实际应用效果表明,设计开发的仿人按摩机器人手臂控制系统实现了对手臂的控制,达到了设计要求.
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