机械手外文翻译Word格式文档下载.docx
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机械手外文翻译Word格式文档下载.docx
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搬运机械手的结构和液压系统设计
专业(方向):
机械设计制造及其自动化(机械装备)
班级:
学生:
指导教师:
日期:
2015年3月10日
Proceedingsofthe33rdChineseControlConference
July28-30,2014,Nanjing,China
TheRemoteControlSystemoftheManipulator
SUNHua,ZHANGYan,XUEJingjing,WUZongkai
CollegeofAutomation,HarbinEngineeringUniversity,Harbin15000
E-mail:
Abstract:
Aremotecontrolsystemofthe5degreeoffreedommanipulatorwasdesigned.Thismanipulatorwasinstalledintoourmobilerobottoconstitutearemoterescuerobot.TheDenavit-Hartenbergmethodwasusedtoestablishthekinematicmodelsandthepathplanningofthemanipulatorwasresearched.TheoperatorcouldremotecontrolthemanipulatorbytheinteractiveinterfaceofPCwhichcoulddisplaymovingpictureandvariousdataofthemanipulator.TheservosofthemanipulatorwerecontrolledbytheslaveFPGAcontroller.Inaddition,theslaveFPGAcontrollercommunicatedwiththePCviathewirelesscommunicationmodule.OwingtotheembeddedNiosIIprogramandIP(IntellectualProperty)coregeneratingPWMwavesinFPGA,thesystemcouldcontrolthemultipleservosfastandflexible.Inordertoachievereal-timeoperationandsimulation,theinteractiveinterfacewasestablishedbythemixedprogrammingofVCandMATLAB.
KeyWords:
Themanipulator;
Remotecontrol;
Denavit-Hartenberg;
FPGA;
Human-computerinteraction
1Introduction
Withthedevelopmentofthemicroelectronictechniqueandthecomputertechnology,themanipulatorhasbecomeessentialequipmentinthemanufacturingindustry.Asweallknown,themanipulatorisusuallyappliedtoaccomplishdull,onerousandrepeatedphysicalwork,especiallyusedtosubstitutethemanualoperationunderthedangerousandthehazardousenvironmentsuchasthecorrosionandthehightemperature.
Inthispaper,themanipulatorwasinstalledourmobilerobot.Thetele-operationsystemofthismanipulatorwasdesigned.ThewholesystemisonstitutedbyPCandslaveFPGA.TheoperatorcanremotecontrolthemanipulatorbyPC.ThewirelesscommunicationwasusedfortransmittingdatabetweenPCandFPGA.FPGAiscontrollerofthethemanipulatorinthemobilerobot.FPGAhastheabundantinternalresourceandIPcores.AndacentralcontroloptionwasbuiltviaanembeddedNiosIIprogramandanIPcoreinFPGA.Furthermore,VeriloglanguagewasadoptedtodesigntheIPcorewhichgenerateddigitalPWMwavesforcontrollingthemanipulator.Therefore,thissystemcouldreachhigherprecisionandeasytodebug.
MATLABsoftwarewasadoptedtobuildthekinematicmodelsofmanipulator.AndusingD-H(theacronymofDenavit-Hartenberg)methodtosolvetheforwardandinversekinematicequationsofthemanipulator,toanalyzethemotivation,toplanandtrackthemotion’spath.
Inaddition,agoodinterfaceofhuman-computerinteractionwasenhancedintheremotecontrolsystemofthemanipulatorinPC.Moreover,themanipulatorsimulationtechnologywasbuiltbyusingthemixedprogrammingofVCandMATLAB.Thus,themotionchoreographswasgotquicklyandeasily,alsogreatlysavedtimeandcutthecost.
2ManipulatorModelandPathPlanning
Atfirst,themotionmodelofthemanipulatorwasbuilt.Then,thekinematicsimulationanditspathplanningwereresearched.Theseworksprovidedthefoundationforthedesignoftheremotecontrolsystemofthemanipulator.
MotionModeloftheManipulator
Themanipulatorwasregardedasanopenloopkinematicchain.Itwasconstitutedbyfiverotaryjoints.Anditsoneendwasfixedonabasewhiletheotherendwasusedtoachievetheabilityofgrabbing.Therefore,itisbettertoestablishachaincoordinateframeasshownin.Theterminalpositionandattitudewasdeterminedviausingforwardkinematicequationafterknowingtherotatingangleofeveryjoint.TheD-HparametertableshownasTable1wasestablishedbyusingtheframesin.
Coordinateframesofmechanicalarm
Table1D-HParametersoftheRobotArm
DuetoD-Hmethod:
Where
S
.Thetransformationmatrixofeveryjointwasgivenbyequation
(2).
(2)
Whereunitvector
inequation
(2)was
.Parametersofmechanicalarmweregivenby
.Thereforetheforwardkinematic
equationwasdeterminedbytakingeveryparameterinequation(3).
(3)
Inpracticalapplication,themanipulatorwasadoptedtograbobjects.Thisrequiredthatthefixedpositionwasgivenfromterminaltotargetlocation.Thatwastheinversekinematicanalysisofmanipulator.Inversetransformationwasusedtodetermineangleofeveryrotaryjointtowardtheestablishedcoordinates.Andtheusedmethodofinversetransformationwasthecommonmethodtosolvesuchproblem(thismethodalsoknownasalgebraicmethod).Usinginversetransformation
separatelytotheleftmultiplicationwith
theangleofeveryrotaryjoint
wasdetermined.Owingtotheseresults,therotaryangles
atterminalpositionofmanipulatorweretotallydecidedbythetargetposition
.Angle
wasusedtochangeterminalattitudeofthemanipulatoranditwaschangedbytheknownnormalvector.However,angle
wasdecidedbythesizeoftargetobject.
MotionSimulationoftheManipulator
ThemanipulatormodelwasbuiltandsimulatedviaMATLABtoolbox.Wecouldverifytherationalityofthemathematicalmodel.WhiletheMATLABmodelwasestablishedbytable1andshownas
MATLABsimulationofthemanipulator
Comparingtotheand,thesimulationmodelofthemanipulatorwascoincidedtothereferenceframemodel.Thatwastosay,thegivencoordinateframewascorrect.TheseresultsalsocouldbeprovedbythedeterminedinversekinematicequationsviaMATLABshowninthetable
(2)andtable(3).
Thetargetpositionwassolvedbyforwardkinematics.Afterthat,therotaryangleswerecalculatedbyinversekinematicalequation.Itturnedoutthattheserotaryanglescoincidedtothegivenangles.Therefore,theseresultsverifiedthecorrectnessofforwardandinversekinematicalequation.
Table
(2)ForwardKinematicsAnalyze
Table(3)InverseKinematicsAnalyze
3PathPlanningoftheManipulator
Thetotaldisplacementofjointwascalculatedbyinversekinematicalequationwhenthemanipulatormovedtonewposition.Thus,themanipulatorcouldmovetonewposition.Althoughthemanipulatorfinallymovedtotheexpectedpositioninsuchcondition,themotionofthemanipulatorbetweenthesetwopointswasunknown.Duetospacelimitations,motionandsomecertainpositionrequirements,themanipulatorwasoftenunabletomoveastheabovementionedmethod.Therefore,themotionpathwasdesignedtocoincidewiththelimitedconditions.
Inthispaper,wecouldusethesecertainlimitationstodecidesomeexpectedpoints.Andtheseexpectedpointswereusedtomatchtheplanningpathofthemanipulator’smovement.Owingtotheplanningpath,coordinateineverypartcouldbecalculated.Therotaryangleofeveryjointwascalculatedviainversekineticalequationandtheseanglesrealizedthemovementofplanningpath.Movementofthemanipulatorwasshownin(Where‘
’representedthepointswouldbepassedbythemanipulator;
‘*’representedtheexpectedpointsofeverysegment;
‘-’representedpathplanningofthemanipulator).In,wecouldseethatthemotionofthemanipulatorpassedeveryplanningpointandthemovementpathcoincidedtotheplanningpath.
Thepathplanningsimulationofthemanipulator
4RemoteControlSystemoftheManipulator
TheremotecontrolsystemofthemanipulatorcontainsthemainPCandtheslaveFPGAcontrollerusingDE2BoardofALTERCompany.ThemotorsofthemanipulatorwerecontrolledbymultipathPWMwaves.AndthePWMwavesweregeneratedbyIPcore.TheFPGAcontroller
CommunicatedwithPCviawirelessserialport.WhileinthePCinteraction,theoperatorcouldobservethemoveofthemanipulatorinreal-timeandtele-controlthemotionofthemanipulator.Alsoeverymovementofmanipulatorcouldbeobservedinadvanceviathesimulationtechnique.Thegeneraldesignofthemanipulatorremotecontrolsystemwasshownin.
Theblockdiagramoftheremotecontrolsystem
ControlModeoftheManipulator
Thereweretwocontrolmodesofthemanipulator.OnemodeisthattheinversekinematicalequationsarecalculatedbyFPGAstraightlytodetermineangleofeveryrotaryjoint.Thus,thecontrolofthemanipulatorwasachieved.Theadvantageofthismodeismoredirectandindependenttofinishthecontrolofthemanipulatorwithouttheexternaldevices.Atthesametime,thismodehaslargequantitiesofcalculations,whichoccupymoreinternalstorageandrunningtimeofFPGA.ResourcesofFPGAarewastedunderthismode.
TheothermodeaccomplishedthecontrolofthemanipulatorbyusingVCandMATLABinPC.UsingVCandMATLABfinishedalargenumberofcomplexcalculationsanddeterminedangleofeveryrotaryjoint.AndtheangleresultsweretransmittedtoFPGAinordertoaccomplishthecontrolofthemanipulator.Thismannersavedlotsofinternalstorageandrunningtime.Inaddition,FPGAcouldfinishotherworksunderthismode.Butthemanipulatorwasnotunderfastcontrolinthismode.
Inthissystem,anewmodewasadoptedinthemanipulatorremotecontrolsystemdependingontheadvantagesofthetwomodes.Specifically,whenthemanipulatoraccomplishedthespecifiedandrepeatedmovementtheformermodewasadoptedunderdirectcontrolbyFPGA.WhenthemanipulatorwantedtoachievenewmotionsthelattermodewasusedtobecommandedbyordersfromPC.Thisnewmodewasmadegooduseofadvantagesofthetwomodesintheabove.Andthisnew
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