摘要：工业机器人执行机构不仅要动作可靠、准确，而且还必须运行平稳，反应迅速，动态特性好，这对电机本身及电机转子位置传感器均提出了较高的要求。磁编码器结构紧凑、成本低廉、可靠性能高，本文提出采用永磁同步电动机作为执行结构，采用磁编码器进行转子位置检测，分析磁编码器的工作原理，设计了磁编码器的信号处理电路，以及与电机控制DSP接口电路，采用绝对位置信号进行电动机的空间矢量控制，实验结果表明，系统控制效果良好。

关键词：工业机器人；位置伺服；磁编码器
Abstract: The industrial robot not only demands the switch of action reliable and accurate, but also a rapid responsive and dynamic characteristics, and this put forward a higher requirements for the rotor and the position sensor. Magnetic encoder is compact, lowcost and high reliability. In this paper, permanent magnet synchronous motor was used as the implementation for industrial robot motor, magnetic encoder was used as rotor position detection, the principle of magnetic encoder was analyzed, the signal processing circuit of magnetic encoder and motor DSP interface control circuits were designed, and absolute position signal space vector control was used, the experimental result shows that the control system works well.

Key words: industrial robot; position servo; magnetic encoder