基于单片机的机械臂运行轨迹在线控制系统设计
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摘要
基于PLC的机械臂运行轨迹控制系统通过PLC采集现场信号及输出信号的状态变化实现机械臂运行轨迹的控制,不能实现多自由度机械臂控制。设计基于单片机的机械臂运行轨迹在线控制系统,系统硬件由上位机PC在线控制、主控制板和机械臂舵机控制板构成,通过光电编码器位移传感器实现机械臂位置、位移感觉,利用舵机控制板采用Arduino舵机扩展板和D-H理论,构建机械臂结构模型,实现多自由度机械臂的控制。系统软件主要由上位机在线控制部分、主控制板控制程序和舵机控制板程序组成,由主控板控制程序和上位机在线控制程序两部分实现机械臂控制,通过单片机系统时钟初始化提高系统的运行速度。实验结果表明,所设计的系统能够稳定、快速地实现机械臂轨迹控制,并且准确度高。
The manipulator movement trajectory control system based on PLC implements trajectory control of manipulator movement by utilizing the PLC to collect status variations of site signals and output signals,and cannot implement control of the multi-degree-of-freedom manipulator. Therefore,a manipulator movement trajectory online control system based on single chip microcomputer(SCM)is designed. The hardware of the system is composed of the upper computer online control of PCs,main control board,and actuator control board of the manipulator. The photoelectric encoder and displacement sensor are adopted to realize sensing of the position and displacement of the manipulator. The structure model of the manipulator is constructed by using the Arduino extension actuator control board and the D-H theory to realize control of the multi-degree-of-freedom manipulator. The software of the system is mainly composed of the online control part of the upper computer,the control program of the main control board,and the program of the actuator control board. The control program of the main control board and the online control program of the upper computer are used to realize control of the manipulator. The running speed of the system is improved by means of clock initialization of the SCM system. The experimental results show that the designed system can implement stable and fast control of manipulator trajectory,and has a high accuracy.
The manipulator movement trajectory control system based on PLC implements trajectory control of manipulator movement by utilizing the PLC to collect status variations of site signals and output signals,and cannot implement control of the multi-degree-of-freedom manipulator. Therefore,a manipulator movement trajectory online control system based on single chip microcomputer(SCM)is designed. The hardware of the system is composed of the upper computer online control of PCs,main control board,and actuator control board of the manipulator. The photoelectric encoder and displacement sensor are adopted to realize sensing of the position and displacement of the manipulator. The structure model of the manipulator is constructed by using the Arduino extension actuator control board and the D-H theory to realize control of the multi-degree-of-freedom manipulator. The software of the system is mainly composed of the online control part of the upper computer,the control program of the main control board,and the program of the actuator control board. The control program of the main control board and the online control program of the upper computer are used to realize control of the manipulator. The running speed of the system is improved by means of clock initialization of the SCM system. The experimental results show that the designed system can implement stable and fast control of manipulator trajectory,and has a high accuracy.
引文
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[4]姜秀玲.基于PLC的苹果采摘机械手运动控制系统设计[J].农机化研究,2017,39(11):203-207.JIANG Xiuling.Design of control system for apple picking manipulator based on PLC[J].Journal of agricultural mechanization research,2017,39(11):203-207.
[5]黄珍,项炎华,李泽,等.路锥自动投收机械手轨迹规划及控制系统设计[J].中国工程机械学报,2017,15(4):283-290.HUANG Zhen,XIANG Yanhua,LI Ze,et al.Trajectory planning and design of control system for road cone automatic retractable manipulator[J].Chinese journal of construction machinery,2017,15(4):283-290.
[6]陈健,史政,黄伟,等.基于Ether CAT的三次元高速多工位送料机械手控制系统设计与实现[J].机床与液压,2016,44(5):127-130.CHEN Jian,SHI Zheng,HUANG Wei,et al.Design and implementation of three-dimensional high feeding manipulator for multistage transfer control system based on Ether CAT[J].Machine tool&hydraulics,2016,44(5):127-130.
[7]宋冲,王洪涛,吴聪,等.基于HT32F1765机械臂小车设计[J].机床与液压,2017,45(5):21-26.SONG Chong,WANG Hongtao,WU Cong,et al.Design of mechanical arm moving car based on HT32F1765[J].Machine tool&hydraulics,2017,45(5):21-26.
[8]冯骁,卢山,侯月阳,等.多臂空间机器人的视觉伺服与协调控制[J].宇航学报,2018,39(2):206-215.FENG Xiao,LU Shan,HOU Yueyang,et al.Visual servoing and coordination control of multi-arm space robot[J].Journal of astronautics,2018,39(2):206-215.
[9]PHAM C V,WANG Y N.Robust adaptive trajectory tracking sliding mode control based on neural networks for cleaning and detecting robot manipulators[J].Journal of intelligent&robotic systems,2015,79(1):101-114.
[10]滕举元,许洪斌,王毅,等.采摘机器人机械臂运动轨迹规划设计仿真[J].计算机仿真,2017,34(4):362-367.TENG Juyuan,XU Hongbin,WANG Yi,et al.Design and simulation of motion trajectory planning for manipulator of picking robot[J].Computer simulation,2017,34(4):362-367.