本文详细论述了电驱动的自主式水下机械手关节速度伺服控制系统的原理及研制。
The constitution\, function\, principle and design of a new speed servocontrol system of placing radiation manipulator joint have been discussed in detail.
介绍一种机械手关节运动的PC机控制方法，它包括步进电机的驱动、硬件接口电路的设计、软件的编程方法。
This paper introduces PC control approach of joint motion of manipulator. This approach includes driving of stepping motor, interface design of hardware circuit and software programming.
控制器通过PCI总线与上位机通信，采用DSP和CPLD完成了运动控制功能，实现了机械手关节运动的伺服控制。
The communication with the upper computer was realized through PCI bus, DSP and CPLD was used to achieve motion control of manipulator's joints.
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