《机械手外文翻译_1.docx》由会员分享，可在线阅读，更多相关《机械手外文翻译_1.docx（18页珍藏版）》请在taowenge.com淘文阁网|工程机械CAD图纸|机械工程制图|CAD装配图下载|SolidWorks_CaTia_CAD_UG_PROE_设计图分享下载上搜索。
1、机械手外文翻译机械手外文翻译LGGROUPsystemofficeroom【LGA16H-LGYY-LGUA8Q8-LGA162】本科毕业设计(论文)外文翻译附外文原文学院：机械与控制工程学院课题名称：搬运机械手的构造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：指导老师：日期：2021年3月10日Proceedingsofthe33rdChineseControlConferenceJuly28-30,2021,Nanjing,ChinaTheRemoteControlSystemoftheManipulatorSUNHua,ZHANGYan,XUEJingjing,
2、WUZongkaiCollegeofAutomation,HarbinEngineeringUniversity,Harbin15000E-mail:Abstract:Aremotecontrolsystemofthe5degreeoffreedommanipulatorwasdesigned.Thismanipulatorwasinstalledintoourmobilerobottoconstitutearemoterescuerobot.TheDenavit-Hartenbergmethodwasusedtoestablishthekinematicmodelsandthepathpla
3、nningofthemanipulatorwasresearched.TheoperatorcouldremotecontrolthemanipulatorbytheinteractiveinterfaceofPCwhichcoulddisplaymovingpictureandvariousdataofthemanipulator.TheservosofthemanipulatorwerecontrolledbytheslaveFPGAcontroller.Inaddition,theslaveFPGAcontrollercommunicatedwiththePCviathewireless
4、communicationmodule.OwingtotheembeddedNiosIIprogramandIP(IntellectualProperty)coregeneratingPWMwavesinFPGA,thesystemcouldcontrolthemultipleservosfastandflexible.Inordertoachievereal-timeoperationandsimulation,theinteractiveinterfacewasestablishedbythemixedprogrammingofVCandMATLAB.KeyWords:Themanipul
5、ator;Remotecontrol;Denavit-Hartenberg;FPGA;Human-computerinteraction1IntroductionWiththedevelopmentofthemicroelectronictechniqueandthecomputertechnology,themanipulatorhasbecomeessentialequipmentinthemanufacturingindustry.Asweallknown,themanipulatorisusuallyappliedtoaccomplishdull,onerousandrepeatedp
6、hysicalwork,especiallyusedtosubstitutethemanualoperationunderthedangerousandthehazardousenvironmentsuchasthecorrosionandthehightemperature.Inthispaper,themanipulatorwasinstalledourmobilerobot.Thetele-operationsystemofthismanipulatorwasdesigned.ThewholesystemisonstitutedbyPCandslaveFPGA.Theoperatorca
7、nremotecontrolthemanipulatorbyPC.ThewirelesscommunicationwasusedfortransmittingdatabetweenPCandFPGA.FPGAiscontrollerofthethemanipulatorinthemobilerobot.FPGAhastheabundantinternalresourceandIPcores.AndacentralcontroloptionwasbuiltviaanembeddedNiosIIprogramandanIPcoreinFPGA.Furthermore,Veriloglanguage
8、wasadoptedtodesigntheIPcorewhichgenerateddigitalPWMwavesforcontrollingthemanipulator.Therefore,thissystemcouldreachhigherprecisionandeasytodebug.MATLABsoftwarewasadoptedtobuildthekinematicmodelsofmanipulator.AndusingD-H(theacronymofDenavit-Hartenberg)methodtosolvetheforwardandinversekinematicequatio
9、nsofthemanipulator,toanalyzethemotivation,toplanandtrackthemotionspath.Inaddition,agoodinterfaceofhuman-computerinteractionwasenhancedintheremotecontrolsystemofthemanipulatorinPC.Moreover,themanipulatorsimulationtechnologywasbuiltbyusingthemixedprogrammingofVCandMATLAB.Thus,themotionchoreographswasg
10、otquicklyandeasily,alsogreatlysavedtimeandcutthecost.2ManipulatorModelandPathPlanningAtfirst,themotionmodelofthemanipulatorwasbuilt.Then,thekinematicsimulationanditspathplanningwereresearched.Theseworksprovidedthefoundationforthedesignoftheremotecontrolsystemofthemanipulator.MotionModeloftheManipula
11、torThemanipulatorwasregardedasanopenloopkinematicchain.Itwasconstitutedbyfiverotaryjoints.Anditsoneendwasfixedonabasewhiletheotherendwasusedtoachievetheabilityofgrabbing.Therefore,itisbettertoestablishachaincoordinateframeasshownin.Theterminalpositionandattitudewasdeterminedviausingforwardkinematice
12、quationafterknowingtherotatingangleofeveryjoint.TheD-HparametertableshownasTable1wasestablishedbyusingtheframesin.CoordinateframesofmechanicalarmTable1D-HParametersoftheRobotArmDuetoD-Hmethod:T=TT+1T+1T=(TTT+1?TTT+1TTT+1TTTTTT+1TTT0TT?TTT?TTTTT+1TTT+1TTTTTT+1TTT00TTTTTTTT+101)WhereCTT+1=cosTT+1,STT+
13、1=sinTT+1,CTT=cosTT,STT=sinTT.Thetransformationmatrixofeveryjointwasgivenbyequation(2).T10=(cosT1sinT1sinT1cosT1000000001001)T21=(cosT2?sinT200001T1?sinT2?cosT2000001)T32=(cosT3?sinT3sinT3cosT3000000001T201)T43=(cosT4?sinT40000?1?T3sinT4cosT4000001)T54=(cosT5?sinT5sinT5cosT5000000001T401)T50=(TTTTTT
14、TTTTTTTTTTTTTT00TTTT01)=T10T2?1T3?2T4?3T5?4(2)WhereunitvectorT,T,Tinequation(2)wasT=TTTTTT,T=TTTTTTTTTTT,T=TTTTTTTT,T=TTTTTTTT.ParametersofmechanicalarmweregivenbyT1=85mm,T2=116mm,T3=85mm,T4=95mm.Thereforetheforwardkinematicequationwasdeterminedbytakingeveryparameterinequation(3).T50=(180TT1T(T2+T3)
15、+116TT1TT2180TT1T(T2+T3)+116TT1TT285+116TT2+180T(T2+T3)(3)Inpracticalapplication,themanipulatorwasadoptedtograbobjects.Thisrequiredthatthefixedpositionwasgivenfromterminaltotargetlocation.Thatwastheinversekinematicanalysisofmanipulator.Inversetransformationwasusedtodetermineangleofeveryrotaryjointto
16、wardtheestablishedcoordinates.Andtheusedmethodofinversetransformationwasthecommonmethodtosolvesuchproblem(thismethodalsoknownasalgebraicmethod).UsinginversetransformationTTT?1?1separatelytotheleftmultiplicationwithT=50T10T2?1T3?2T4?3T5?4,theangleofeveryrotaryjointT1T2T3T4T5wasdetermined.Owingtothese
17、results,therotaryanglesT1T2T3atterminalpositionofmanipulatorweretotallydecidedbythetargetpositionTTTTTT.AngleT4wasusedtochangeterminalattitudeofthemanipulatoranditwaschangedbytheknownnormalvector.However,angleT5,wasdecidedbythesizeoftargetobject.MotionSimulationoftheManipulatorThemanipulatormodelwas
18、builtandsimulatedviaMATLABtoolbox.Wecouldverifytherationalityofthemathematicalmodel.WhiletheMATLABmodelwasestablishedbytable1andshownasMATLABsimulationofthemanipulatorComparingtotheand,thesimulationmodelofthemanipulatorwascoincidedtothereferenceframemodel.Thatwastosay,thegivencoordinateframewascorre
19、ct.TheseresultsalsocouldbeprovedbythedeterminedinversekinematicequationsviaMATLABshowninthetable(2)andtable(3).Thetargetpositionwassolvedbyforwardkinematics.Afterthat,therotaryangleswerecalculatedbyinversekinematicalequation.Itturnedoutthattheserotaryanglescoincidedtothegivenangles.Therefore,thesere
20、sultsverifiedthecorrectnessofforwardandinversekinematicalequation.Table(2)ForwardKinematicsAnalyzeTable(3)InverseKinematicsAnalyze3PathPlanningoftheManipulatorThetotaldisplacementofjointwascalculatedbyinversekinematicalequationwhenthemanipulatormovedtonewposition.Thus,themanipulatorcouldmovetonewpos
21、ition.Althoughthemanipulatorfinallymovedtotheexpectedpositioninsuchcondition,themotionofthemanipulatorbetweenthesetwopointswasunknown.Duetospacelimitations,motionandsomecertainpositionrequirements,themanipulatorwasoftenunabletomoveastheabovementionedmethod.Therefore,themotionpathwasdesignedtocoincid
22、ewiththelimitedconditions.Inthispaper,wecouldusethesecertainlimitationstodecidesomeexpectedpoints.Andtheseexpectedpointswereusedtomatchtheplanningpathofthemanipulatorsmovement.Owingtotheplanningpath,coordinateineverypartcouldbecalculated.Therotaryangleofeveryjointwascalculatedviainversekineticalequa
23、tionandtheseanglesrealizedthemovementofplanningpath.Movementofthemanipulatorwasshownin(Whererepresentedthepointswouldbepassedbythemanipulator;*representedtheexpectedpointsofeverysegment;-representedpathplanningofthemanipulator).In,wecouldseethatthemotionofthemanipulatorpassedeveryplanningpointandthe
24、movementpathcoincidedtotheplanningpath.Thepathplanningsimulationofthemanipulator4RemoteControlSystemoftheManipulatorTheremotecontrolsystemofthemanipulatorcontainsthemainPCandtheslaveFPGAcontrollerusingDE2BoardofALTERCompany.ThemotorsofthemanipulatorwerecontrolledbymultipathPWMwaves.AndthePWMwaveswer
25、egeneratedbyIPcore.TheFPGAcontrollerCommunicatedwithPCviawirelessserialport.WhileinthePCinteraction,theoperatorcouldobservethemoveofthemanipulatorinreal-timeandtele-controlthemotionofthemanipulator.Alsoeverymovementofmanipulatorcouldbeobservedinadvanceviathesimulationtechnique.Thegeneraldesignofthem
26、anipulatorremotecontrolsystemwasshownin.TheblockdiagramoftheremotecontrolsystemControlModeoftheManipulatorThereweretwocontrolmodesofthemanipulator.OnemodeisthattheinversekinematicalequationsarecalculatedbyFPGAstraightlytodetermineangleofeveryrotaryjoint.Thus,thecontrolofthemanipulatorwasachieved.The
27、advantageofthismodeismoredirectandindependenttofinishthecontrolofthemanipulatorwithouttheexternaldevices.Atthesametime,thismodehaslargequantitiesofcalculations,whichoccupymoreinternalstorageandrunningtimeofFPGA.ResourcesofFPGAarewastedunderthismode.Theothermodeaccomplishedthecontrolofthemanipulatorb
28、yusingVCandMATLABinPC.UsingVCandMATLABfinishedalargenumberofcomplexcalculationsanddeterminedangleofeveryrotaryjoint.AndtheangleresultsweretransmittedtoFPGAinordertoaccomplishthecontrolofthemanipulator.Thismannersavedlotsofinternalstorageandrunningtime.Inaddition,FPGAcouldfinishotherworksunderthismod
29、e.Butthemanipulatorwasnotunderfastcontrolinthismode.Inthissystem,anewmodewasadoptedinthemanipulatorremotecontrolsystemdependingontheadvantagesofthetwomodes.Specifically,whenthemanipulatoraccomplishedthespecifiedandrepeatedmovementtheformermodewasadoptedunderdirectcontrolbyFPGA.Whenthemanipulatorwant
30、edtoachievenewmotionsthelattermodewasusedtobecommandedbyordersfromPC.Thisnewmodewasmadegooduseofadvantagesofthetwomodesintheabove.Andthisnewmodelightenedcomputationalburdenandimprovedworkingefficiencyofthemanipulator.SOPCDesignfortheRemoteControlSystemMovementofthemanipulatorwascontrolledbyservos.An
31、dtheservoswerecontrolledbyPWMwaveswiththecycleof20ms.PulsewidthofthesePWMwaveswascorrespondingtotherotaryangleofservowith-90degreeto90degree.HighprecisionofPWMwavesweregeneratedbyIPcoreviaVeriloginthissystem.Theresultswereshownin.PWMwavescontrolledrotaryanglesoftheservosviatheservodrivers.ThePWMIPco
32、reMultipleofIPcoreswereabletobedownloadedintoFPGA.AndmultiplePWMwaveswithhighprecisionweregeneratedintheoutput.Asshownin,thepulsewidthofthesewavescouldbesettledbyprogramofNiosII.Themovementofthemanipulatorwasmoreflexibleandinhigherprecisioninthissystem.TheIPcoresgeneratingPWMwaveThemovementofthemani
33、pulatorwasaccomplishedbythedutyratioofPWMwaves.Formula(4)invertedrotaryangleTTtothecorrespondingamountofthedutyratioofPWMwaves.ThedutyratioofPWMwavescorrespondedtotheNiosIIoutput.TTTT=1000000?(TT?50000+75000)4Wirelessserialof9600baudratewasusedtotransmitthecoordinateandtheangleinformationfromhostcom
34、putertoFPGA.Afterthat,thedataandorderswereanalyzedbyFPGAThenFPGAtransmittedthemovementresultstointeractiveinterfaceofhostcomputerviawirelesstransitionmodel.ThiscommunicationwasrealizedthroughaddingUVRTcommunicationprotocoltoFPGA.TheInteractiveInterfaceoftheRemoteControlSystemTheinteractiveinterfaceo
35、ftheremotecontrolsystemwasshownin.Thereweresomefunctionsintheinteractiveinterface:videoobservation,themanipulatorcontrolandthesimulationmodeling.Atfirst,themanipulatorvideocouldbeseenfromcameratointeractiveinterface.Theoperatorcouldmonitorthemanipulatorinreal-time.Secondly,theangleandthecoordinateco
36、uldbesetincontrolzoneoftheinteractiveinterface.Theangleofthemanipulatorcouldbesetindependentlytoeachsinglejoint.Inaddition,theanglesettingcouldbeshowninreal-timeinthelistofinteractiveinterface(asshownin.Inthesetofcoordinates,judgingofcoordinatesettingassuredthatthetotalcoordinatescouldachievetotheta
37、rgetpoints.Thusthemanipulatorcouldbecontrolledtomoveinthesettledpathdependontheangleinformation.Lastly,theMATLABrobottoolboxwasembeddedintothisinteractiveinterface.Oneinterfacewasintegratedboththecontrolandsimulationofthemanipulator.MATLABrobottoolboxwasdirectlyusedbyinteractiveinterfaceinthemanipul
38、atormodeling.Eachgroupofinformationwassimulatedseparatelyinordertodetectwhethereachmovementwascorrect.Andthegeneralsimulationcouldtestwhethermovementarrangementofthemanipulatorwasreasonable.Combiningwithmultiplesimulationmethodsmadethemovementarrangementmoreflexible,theoperationofthemanipulatorsimpl
39、erandinterfaceinteractionmoreperfect.Theinteractiveinterfaceofthemanipulator5ExperimentandSimulationInordertoverifypropertiesoftheremotecontrolsystemofthemanipulator,experimentsofthesystemwereunderwayandwerecomparingtothesimulationsystem.Tobespecific,manipulatormodelingwasbuiltbyinteractiveinterface
40、andagroupofcoordinatescouldbedesigned.wecouldseethatthemanipulatormodelingandcontroloftheinteractiveinterfacedesigncomfortedtothedesignrequirement.Thecomparingbetweenexperimentandsimulationwasshownin.Theexperimentandthesimulation6ConclusionIntheexperiment,the5-DOFmanipulatormodelingwassimulatedbyMAT
41、LAB.IntheslaveFPGAboard,controlofthemanipulatorwasaccomplishedviaIPcorebasedontheVeriloglanguage.Thatgreatlyreduceddesignoftheperipheralcircuit,cutthecost,improvedtheprecisionandmadethemovementsmootherwithoutshaking.Whileintheinteractiveinterface,themixedprogrammingmethodofVCandMATLABwasembeddedinto
42、theMATLABsimulationfunction.Thustheoperabilityofthismanipulatorwasenhanced.Thesystemhadagoodabilityofinteractiveinterface.Thewholesystemwasverifiedandachievedtotheexpectedeffect.OnenewthinginthissystemwasthatembeddedtheMATLABrobottoolboxintheinteractiveinterface.TheD-Hmodeling,pathplanningandtele-op
43、erationandsoonwereaccomplishedbyusingthisinteractiveinterfacedirectly.Comparedtotheotherdevelopmenttools,thisinteractiveinterfacehadportability,goodcompatibility,shortdevelopmentcycleandsimpleoperation.References1SaeedB.Nikuwrite,SunFuchun,ZhuJihong,LiuGuodongetctranslate:RoboticsIntroduction,Beijin
44、g,ElectronicIndustryPress,2004(1):60-63,132-137.2Brady,and,editors,RobotMotion;PlanningandControl,MITPress,Cambridge,Mass,1982.3PaulRichardP.,RobotManipulators,Mathematics,Programming,andControl,TheMITPress1981.4LiJian,DesignandResearchofMulti-DOFRobot,Masterdegreethesesofmasterofuniversityoftechnol
45、ogy,Chineseacaedemyofsciences,2020?20-31.5ChengLiyan,FeiLing,SuZelang,The5-DOFManipulatorKinematicsSimulationAnalysisBasedonMATLAB,MechanicalResearch&Application,2020(06).6ZhangPuxingJiaQiuling,MechanicalArmMulti-channelServoControlDesignbasedonFPGA,Smallandspecialelectricalmachine.2020,39(4)第33届中国控制会议论文集中国，南京，2021年28-30日机械手的远程控制系统