机械手外文翻译Word下载.docx

机械手外文翻译Word下载.docx

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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:

sunhuas@

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.

2.1MotionModeloftheManipulator

Themanipulatorwasregardedasanopenloopkinematicchain.Itwasconstitutedbyfiverotaryjoints.Anditsoneendwasfixedonabasewhiletheotherendwasusedtoachievetheabilityofgrabbing.Therefore,itisbettertoestablishachaincoordinateframeasshowninFig.1.Theterminalpositionandattitudewasdeterminedviausingforwardkinematicequationafterknowingtherotatingangleofeveryjoint.TheD-HparametertableshownasTable1wasestablishedbyusingtheframesinFig.1.

Fig.1Coordinateframesofmechanicalarm

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.

2.2MotionSimulationoftheManipulator

ThemanipulatormodelwasbuiltandsimulatedviaMATLABtoolbox.Wecouldverifytherationalityofthemathematicalmodel.WhiletheMATLABmodelwasestablishedbytable1andshownasFig.2

Fig.2MATLABsimulationofthemanipulator

ComparingtotheFig.1andFig.2,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.MovementofthemanipulatorwasshowninFig.3（Where‘?

’representedthepointswouldbepassedbythemanipulator;

‘*’representedtheexpectedpointsofeverysegment;

‘-’representedpathplanningofthemanipulator）.InFig.3,wecouldseethatthemotionofthemanipulatorpassedeveryplanningpointandthemovementpathcoincidedtotheplanningpath.

Fig.3Thepathplanningsimulationofthemanipulator

4RemoteControlSystemoftheManipulator

TheremotecontrolsystemofthemanipulatorcontainsthemainPCandtheslaveFPGAcontrollerusingDE2BoardofALTERCompany.ThemotorsofthemanipulatorwerecontrolledbymultipathPWMwaves.AndthePWMwavesweregeneratedbyIPcore.TheFPGAcontroller

CommunicatedwithPCviawirelessserialport.WhileinthePCinteraction,theoperatorcouldobservethemoveofthemanipulatorinreal-timeandtele-controlthemotionofthemanipulator.Alsoeverymovementofmanipulatorcouldbeobservedinadvanceviathesimulationtechnique.ThegeneraldesignofthemanipulatorremotecontrolsystemwasshowninFig.4.

Fig.4Theblockdiagramoftheremotecontrolsystem

4.1ControlModeoftheManipulator

Thereweretwocontrolmodesofthemanipulator.OnemodeisthattheinversekinematicalequationsarecalculatedbyFPGAstraightlytodetermineangleofeveryrotaryjoint.Thus,thecontrolofthemanipulatorwasachieved.Theadvantageofthismodeismoredirectandindependenttofinishthecontrolofthemanipulatorwithouttheexternaldevices.Atthesametime,thismodehaslargequantitiesofcalculations,whichoccupymoreinternalstorageandrunningtimeofFPGA.ResourcesofFPGAarewastedunderthismode.

TheothermodeaccomplishedthecontrolofthemanipulatorbyusingVCandMATLABinPC.UsingVCandMATLABfinishedalargenumberofcomplexcalculationsanddeterminedangleofeveryrotaryjoint.AndtheangleresultsweretransmittedtoFPGAinordertoaccomplishthecontrolofthemanipulator.Thismannersavedlotsofinternalstorageandrunningtime.Inaddition,FPGAcouldfinishotherworksunderthismode.Butthemanipulatorwasnotunderfastcontrolinthismode.

Inthissystem,anewmodewasadoptedinthemanipulatorremotecontrolsystemdependingontheadvantagesofthetwomodes.Specifically,whenthemanipulatoraccomplishedthespecifiedandrepeatedmovementtheformermodewasadoptedunderdirectcontrolbyFPGA.WhenthemanipulatorwantedtoachievenewmotionsthelattermodewasusedtobecommandedbyordersfromPC.Thisnewmodewasmadegooduseofadvantagesofthetwomodesintheabove.Andthisnewmodelightenedcomputational