柑橘采摘机械臂控制算法研究
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摘要
对3自由度柑橘采摘机械臂控制算法进行研究。调用OpenGL相关函数建立3D仿真模型,利用DH参数法与雅克比矩阵求逆法对机械臂进行运动学正解与逆解建模,并使用robotic toolbox对所获得的运动学逆解结果进行验证。利用拉格朗日法进行动力学计算,并模拟机械臂实际工作中的受力情况。结果表明,控制算法控制效果良好,能满足柑橘采摘机械臂运动控制的要求。
The control algorithm of 3-DOF citrus picking manipulator was researched. The 3D simulation model was established by using OpenGL correlation function.The forward and inverse kinematics solutions were modeled by using DH parameter method and Jacobian matrix inversion method,the results of inverse kinematics solutions were verified by using robotic toolbox to achieve the desired goal.The Lagrange method was used to simulate the actual working force of the manipulator.The performance of control algorithm can meet practical requirement.
The control algorithm of 3-DOF citrus picking manipulator was researched. The 3D simulation model was established by using OpenGL correlation function.The forward and inverse kinematics solutions were modeled by using DH parameter method and Jacobian matrix inversion method,the results of inverse kinematics solutions were verified by using robotic toolbox to achieve the desired goal.The Lagrange method was used to simulate the actual working force of the manipulator.The performance of control algorithm can meet practical requirement.
引文
[1]刘权庆.五自由度机械手轨迹规划研究及动力学分析[D].杭州:浙江理工大学,2017.
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[5]汪首坤,朱磊,王军政.基于导航势函数法的六自由度机械臂避障路径规划[J].北京理工大学学报2015,35(02):186-191.
[6]李泰国,李文新,王伟文,等.基于OpenGL空间机械臂三维重构可视化研究[J].计算机技术与发展,2017(12):1-5.
[2]宋西平,李国琴,罗陆锋.基于OpenGL的五自由度机械臂的运动学仿真[J].机械设计与制造工程,2015,44(12):18-21.
[3]郭小花,黄世龙,刘勇.基于OpenGL的六轴机械臂仿真示教系统研究[J].家电科技,2015(04):70-71.
[4]嵇建成,郭帅,薛卉,等.模块化机械臂轨迹规划算法仿真研究[J].机械制造,2015,53(10):11-17.
[5]汪首坤,朱磊,王军政.基于导航势函数法的六自由度机械臂避障路径规划[J].北京理工大学学报2015,35(02):186-191.
[6]李泰国,李文新,王伟文,等.基于OpenGL空间机械臂三维重构可视化研究[J].计算机技术与发展,2017(12):1-5.