机械手外文翻译_3.docx

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1、机械手外文翻译Proceedingsofthe33rdChineseControlConferenceJuly28-30,2021,Nanjing,ChinaTheRemoteControlSystemoftheManipulatorSUNHua,ZHANGYan,XUEJingjing,WUZongkaiCollegeofAutomation,HarbinEngineeringUniversity,Harbin15000E-mail:sunhuasAbstract:Aremotecontrolsystemofthe5degreeoffreedommanipulatorwasdesigned.

2、Thismanipulatorwasinstalledintoourmobilerobottoconstitutearemoterescuerobot.TheDenavit-Hartenbergmethodwasusedtoestablishthekinematicmodelsandthepathplanningofthemanipulatorwasresearched.TheoperatorcouldremotecontrolthemanipulatorbytheinteractiveinterfaceofPCwhichcoulddisplaymovingpictureandvariousd

3、ataofthemanipulator.TheservosofthemanipulatorwerecontrolledbytheslaveFPGAcontroller.Inaddition,theslaveFPGAcontrollercommunicatedwiththePCviathewirelesscommunicationmodule.OwingtotheembeddedNiosIIprogramandIP(IntellectualProperty)coregeneratingPWMwavesinFPGA,thesystemcouldcontrolthemultipleservosfas

4、tandflexible.Inordertoachievereal-timeoperationandsimulation,theinteractiveinterfacewasestablishedbythemixedprogrammingofVCandMATLAB.KeyWords:Themanipulator;Remotecontrol;Denavit-Hartenberg;FPGA;Human-computerinteraction1IntroductionWiththedevelopmentofthemicroelectronictechniqueandthecomputertechno

5、logy,themanipulatorhasbecomeessentialequipmentinthemanufacturingindustry.Asweallknown,themanipulatorisusuallyappliedtoaccomplishdull,onerousandrepeatedphysicalwork,especiallyusedtosubstitutethemanualoperationunderthedangerousandthehazardousenvironmentsuchasthecorrosionandthehightemperature.Inthispap

6、er,themanipulatorwasinstalledourmobilerobot.Thetele-operationsystemofthismanipulatorwasdesigned.ThewholesystemisonstitutedbyPCandslaveFPGA.TheoperatorcanremotecontrolthemanipulatorbyPC.ThewirelesscommunicationwasusedfortransmittingdatabetweenPCandFPGA.FPGAiscontrollerofthethemanipulatorinthemobilero

7、bot.FPGAhastheabundantinternalresourceandIPcores.AndacentralcontroloptionwasbuiltviaanembeddedNiosIIprogramandanIPcoreinFPGA.Furthermore,VeriloglanguagewasadoptedtodesigntheIPcorewhichgenerateddigitalPWMwavesforcontrollingthemanipulator.Therefore,thissystemcouldreachhigherprecisionandeasytodebug.MAT

8、LABsoftwarewasadoptedtobuildthekinematicmodelsofmanipulator.AndusingD-H(theacronymofDenavit-Hartenberg)methodtosolvetheforwardandinversekinematicequationsofthemanipulator,toanalyzethemotivation,toplanandtrackthemotionspath.Inaddition,agoodinterfaceofhuman-computerinteractionwasenhancedintheremotecon

9、trolsystemofthemanipulatorinPC.Moreover,themanipulatorsimulationtechnologywasbuiltbyusingthemixedprogrammingofVCandMATLAB.Thus,themotionchoreographswasgotquicklyandeasily,alsogreatlysavedtimeandcutthecost.2ManipulatorModelandPathPlanningAtfirst,themotionmodelofthemanipulatorwasbuilt.Then,thekinemati

10、csimulationanditspathplanningwereresearched.Theseworksprovidedthefoundationforthedesignoftheremotecontrolsystemofthemanipulator.2.1MotionModeloftheManipulatorThemanipulatorwasregardedasanopenloopkinematicchain.Itwasconstitutedbyfiverotaryjoints.Anditsoneendwasfixedonabasewhiletheotherendwasusedtoach

11、ievetheabilityofgrabbing.Therefore,itisbettertoestablishachaincoordinateframeasshowninFig.1.Theterminalpositionandattitudewasdeterminedviausingforwardkinematicequationafterknowingtherotatingangleofeveryjoint.TheD-HparametertableshownasTable1wasestablishedbyusingtheframesinFig.1.Fig.1Coordinateframes

12、ofmechanicalarmTable1D-HParametersoftheRobotArmDuetoD-Hmethod:T=An+1n+1n=Cn+1?Sn+1Sn+1CanCn+1Can0an?San?Sandn+1Sn+1SanCn+1San00CanCandn+101WhereCn+1=cosn+1,Sn+1=sinn+1,Can=cosan,San=sinan.Thetransformationmatrixofeveryjointwasgivenbyequation(2).T10=cos1sin1sin1cos1000000001001T21=cos2?sin200001d1?si

13、n2?cos2000001T32=cos3?sin3sin3cos3000000001d201T43=cos4?sin40000?1?d3sin4cos4000001T54=cos5?sin5sin5cos5000000001d401T50=nxnxnynynxnxnynynznz00nznz01=T10T2?1T3?2T4?3T5?4(2)Whereunitvectorn,o,ainequation(2)wasn=normal,n=orientation,n=approac?,n=position.Parametersofmechanicalarmweregivenbyd1=85mm,d2=

14、116mm,d3=85mm,d4=95mm.Thereforetheforwardkinematicequationwasdeterminedbytakingeveryparameterinequation(3).P50=180C1S2+3+116C1S2180S1S2+3+116C1S285+116C2+180C2+3(3)Inpracticalapplication,themanipulatorwasadoptedtograbobjects.Thisrequiredthatthefixedpositionwasgivenfromterminaltotargetlocation.Thatwa

15、stheinversekinematicanalysisofmanipulator.Inversetransformationwasusedtodetermineangleofeveryrotaryjointtowardtheestablishedcoordinates.Andtheusedmethodofinversetransformationwasthecommonmethodtosolvesuchproblem(thismethodalsoknownasalgebraicmethod).UsinginversetransformationTnn?1?1separatelytothele

16、ftmultiplicationwithT=50T10T2?1T3?2T4?3T5?4,theangleofeveryrotaryjoint12345wasdetermined.Owingtotheseresults,therotaryangles123atterminalpositionofmanipulatorweretotallydecidedbythetargetpositionPxPyPz.Angle4wasusedtochangeterminalattitudeofthemanipulatoranditwaschangedbytheknownnormalvector.However

17、,angle5,wasdecidedbythesizeoftargetobject.2.2MotionSimulationoftheManipulatorThemanipulatormodelwasbuiltandsimulatedviaMATLABtoolbox.Wecouldverifytherationalityofthemathematicalmodel.WhiletheMATLABmodelwasestablishedbytable1andshownasFig.2Fig.2MATLABsimulationofthemanipulatorComparingtotheFig.1andFi

18、g.2,thesimulationmodelofthemanipulatorwascoincidedtothereferenceframemodel.Thatwastosay,thegivencoordinateframewascorrect.TheseresultsalsocouldbeprovedbythedeterminedinversekinematicequationsviaMATLABshowninthetable(2)andtable(3).Thetargetpositionwassolvedbyforwardkinematics.Afterthat,therotaryangle

19、swerecalculatedbyinversekinematicalequation.Itturnedoutthattheserotaryanglescoincidedtothegivenangles.Therefore,theseresultsverifiedthecorrectnessofforwardandinversekinematicalequation.Table(2)ForwardKinematicsAnalyzeTable(3)InverseKinematicsAnalyze3PathPlanningoftheManipulatorThetotaldisplacementof

20、jointwascalculatedbyinversekinematicalequationwhenthemanipulatormovedtonewposition.Thus,themanipulatorcouldmovetonewposition.Althoughthemanipulatorfinallymovedtotheexpectedpositioninsuchcondition,themotionofthemanipulatorbetweenthesetwopointswasunknown.Duetospacelimitations,motionandsomecertainposit

21、ionrequirements,themanipulatorwasoftenunabletomoveastheabovementionedmethod.Therefore,themotionpathwasdesignedtocoincidewiththelimitedconditions.Inthispaper,wecouldusethesecertainlimitationstodecidesomeexpectedpoints.Andtheseexpectedpointswereusedtomatchtheplanningpathofthemanipulatorsmovement.Owing

22、totheplanningpath,coordinateineverypartcouldbecalculated.Therotaryangleofeveryjointwascalculatedviainversekineticalequationandtheseanglesrealizedthemovementofplanningpath.MovementofthemanipulatorwasshowninFig.3(Where?representedthepointswouldbepassedbythemanipulator;*representedtheexpectedpointsofev

23、erysegment;-representedpathplanningofthemanipulator).InFig.3,wecouldseethatthemotionofthemanipulatorpassedeveryplanningpointandthemovementpathcoincidedtotheplanningpath.Fig.3Thepathplanningsimulationofthemanipulator4RemoteControlSystemoftheManipulatorTheremotecontrolsystemofthemanipulatorcontainsthe

24、mainPCandtheslaveFPGAcontrollerusingDE2BoardofALTERCompany.ThemotorsofthemanipulatorwerecontrolledbymultipathPWMwaves.AndthePWMwavesweregeneratedbyIPcore.TheFPGAcontrollerCommunicatedwithPCviawirelessserialport.WhileinthePCinteraction,theoperatorcouldobservethemoveofthemanipulatorinreal-timeandtele-

25、controlthemotionofthemanipulator.Alsoeverymovementofmanipulatorcouldbeobservedinadvanceviathesimulationtechnique.ThegeneraldesignofthemanipulatorremotecontrolsystemwasshowninFig.4.Fig.4Theblockdiagramoftheremotecontrolsystem4.1ControlModeoftheManipulatorThereweretwocontrolmodesofthemanipulator.Onemo

26、deisthattheinversekinematicalequationsarecalculatedbyFPGAstraightlytodetermineangleofeveryrotaryjoint.Thus,thecontrolofthemanipulatorwasachieved.Theadvantageofthismodeismoredirectandindependenttofinishthecontrolofthemanipulatorwithouttheexternaldevices.Atthesametime,thismodehaslargequantitiesofcalcu

27、lations,whichoccupymoreinternalstorageandrunningtimeofFPGA.ResourcesofFPGAarewastedunderthismode.TheothermodeaccomplishedthecontrolofthemanipulatorbyusingVCandMATLABinPC.UsingVCandMATLABfinishedalargenumberofcomplexcalculationsanddeterminedangleofeveryrotaryjoint.AndtheangleresultsweretransmittedtoF

28、PGAinordertoaccomplishthecontrolofthemanipulator.Thismannersavedlotsofinternalstorageandrunningtime.Inaddition,FPGAcouldfinishotherworksunderthismode.Butthemanipulatorwasnotunderfastcontrolinthismode.Inthissystem,anewmodewasadoptedinthemanipulatorremotecontrolsystemdependingontheadvantagesofthetwomo

29、des.Specifically,whenthemanipulatoraccomplishedthespecifiedandrepeatedmovementtheformermodewasadoptedunderdirectcontrolbyFPGA.WhenthemanipulatorwantedtoachievenewmotionsthelattermodewasusedtobecommandedbyordersfromPC.Thisnewmodewasmadegooduseofadvantagesofthetwomodesintheabove.Andthisnewmodelightene

30、dcomputationalburdenandimprovedworkingefficiencyofthemanipulator.4.2SOPCDesignfortheRemoteControlSystemMovementofthemanipulatorwascontrolledbyservos.AndtheservoswerecontrolledbyPWMwaveswiththecycleof20ms.PulsewidthofthesePWMwaveswas0.52.5mscorrespondingtotherotaryangleofservowith-90degreeto90degree.

31、HighprecisionofPWMwavesweregeneratedbyIPcoreviaVeriloginthissystem.TheresultswereshowninFig.5.PWMwavescontrolledrotaryanglesoftheservosviatheservodrivers.Fig.5ThePWMIPcoreMultipleofIPcoreswereabletobedownloadedintoFPGA.AndmultiplePWMwaveswithhighprecisionweregeneratedintheoutput.AsshowninFig.6,thepu

32、lsewidthofthesewavescouldbesettledbyprogramofNiosII.Themovementofthemanipulatorwasmoreflexibleandinhigherprecisioninthissystem.Fig.6TheIPcoresgeneratingPWMwaveThemovementofthemanipulatorwasaccomplishedbythedutyratioofPWMwaves.Formula(4)invertedrotaryanglentothecorrespondingamountofthedutyratioofPWMw

33、aves.ThedutyratioofPWMwavescorrespondedtotheNiosIIoutput.PWMn=1000000?n?5000090+750004Wirelessserialof9600baudratewasusedtotransmitthecoordinateandtheangleinformationfromhostcomputertoFPGA.Afterthat,thedataandorderswereanalyzedbyFPGAThenFPGAtransmittedthemovementresultstointeractiveinterfaceofhostco

34、mputerviawirelesstransitionmodel.ThiscommunicationwasrealizedthroughaddingUVRTcommunicationprotocoltoFPGA.4.3TheInteractiveInterfaceoftheRemoteControlSystemTheinteractiveinterfaceoftheremotecontrolsystemwasshowninFig.7.Thereweresomefunctionsintheinteractiveinterface:videoobservation,themanipulatorco

35、ntrolandthesimulationmodeling.Atfirst,themanipulatorvideocouldbeseenfromcameratointeractiveinterface.Theoperatorcouldmonitorthemanipulatorinreal-time.Secondly,theangleandthecoordinatecouldbesetincontrolzoneoftheinteractiveinterface.Theangleofthemanipulatorcouldbesetindependentlytoeachsinglejoint.Ina

36、ddition,theanglesettingcouldbeshowninreal-timeinthelistofinteractiveinterface(asshowninFig.7).Inthesetofcoordinates,judgingofcoordinatesettingassuredthatthetotalcoordinatescouldachievetothetargetpoints.Thusthemanipulatorcouldbecontrolledtomoveinthesettledpathdependontheangleinformation.Lastly,theMAT

37、LABrobottoolboxwasembeddedintothisinteractiveinterface.Oneinterfacewasintegratedboththecontrolandsimulationofthemanipulator.MATLABrobottoolboxwasdirectlyusedbyinteractiveinterfaceinthemanipulatormodeling.Eachgroupofinformationwassimulatedseparatelyinordertodetectwhethereachmovementwascorrect.Andtheg

38、eneralsimulationcouldtestwhethermovementarrangementofthemanipulatorwasreasonable.Combiningwithmultiplesimulationmethodsmadethemovementarrangementmoreflexible,theoperationofthemanipulatorsimplerandinterfaceinteractionmoreperfect.Fig.7Theinteractiveinterfaceofthemanipulator5ExperimentandSimulationInor

39、dertoverifypropertiesoftheremotecontrolsystemofthemanipulator,experimentsofthesystemwereunderwayandwerecomparingtothesimulationsystem.Tobespecific,manipulatormodelingwasbuiltbyinteractiveinterfaceandagroupofcoordinatescouldbedesigned.ThesecoordinatesweretransmittedtoFPGA,whichcontrolledtheservostoaccomplishthemovementofthemanipulator.Jointangles,theterminalcoordinatesshotbyinterfacevideo.Thesimulationresultswereshownin