目的 为提高包装物品生产效率，提升直角包装搬运机器人的稳定性、可靠性和运动精度。方法 根据四自由度直角坐标型包装搬运机器人的机械结构和功能需求，设计一款基于ARM嵌入式的直角包装搬运机器人控制系统。控制系统硬件由主控制器ARM, FPGA和示教器ARM组成，主控制器ARM通过串口与FPGA、示教器ARM以及伺服系统进行通讯。同时基于上述硬件结构提出一种改进型S曲线插值速度控制方法。结果 实验结果表明，该控制系统下的直角包装搬运机器人定位精度为±0.5 mm，完全满足设计要求。结论 该控制系统能够满足实际作业需求，提升了包装效率，降低了成本。

The work aims to improve the production efficiency of packaging goods and improve the stability, reliability and movement accuracy of right angle packaging and handling robot. According to the mechanical structure and function requirements of the four-degree-of-freedom Cartesian coordinate robot, a control system based on ARM embedded right angle packaging and handling robot was designed. The hardware of the control system was composed of the main controller ARM, FPGA and teaching device ARM. The main controller ARM communicated with the FPGA, teaching device ARM and servo system through the serial port. An improved S-curve interpolation speed control method was proposed based on the above-mentioned hardware structure. The experimental results showed that the positioning accuracy of the right angle packaging and handling robot under the control system was at ±0.5 mm, and fully met the design requirements. The control system can meet the actual operation demand and has improved the packaging efficiency and reduced the cost.