基于Internet的机械臂网络远程控制系统拓展研究
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摘要
随着Internet的飞速发展,互联网技术和机器人技术相结合已成了一个重要的研究方向,于是基于Internet的机器人远程控制的概念被提出。基于Internet的机器人远程控制技术的分类有多种,最常用的就是根据伺服控制技术对其进行分类,可以分为基于Internet-PC和基于Internet-DSP两种机器人远程控制系统。本论文即围绕这两种机器人远程控制平台,以一个二自由度串联机械臂为被控对象,进行了相关的软件平台的开发以及控制策略的设计改进,主要内容可以归纳如下:
全文共分五章。第一章为绪论,主要介绍网络远程控制系统的概念及其发展历程,并介绍网络远程控制系统的分类情况以及技术关键点。同时,在介绍网络远程控制技术研究现状的基础上,简单介绍了本论文的研究基础和研究内容。
第二章主要开发了基于Internet-PC的机械臂网络远程控制系统平台。为了对机械臂系统进行建模研究,以便在已知模型的基础上,可以在不同的应用场合在系统中设计运用不同的运动控制器从而达到较理想的控制效果,有必要开发出不使用DSP运动控制板的机械臂远程控制系统平台。本章主要阐述该系统的硬件和软件结构设计,着重对比分析该平台软件实现上与魏子翔师兄开发出的基于Internet-DSP的机械臂网络远程控制平台的不同之处,并在此基础上进行实际绘图实验研究,并对实验结果进行分析。
第三章实现了基于Internet-PC的机械臂远程控制系统的连续轨迹控制。针对点位控制模式下,机械臂总是走走停停导致系统的时间性能降低,以及系统的机械磨损增加的问题,本章首先从类结构分析出该系统平台的规划器类缺乏的连续轨迹规划功能,对运动轨迹进行梯形连续轨迹规划,从而控制机械臂只在起始点加速,最终点减速,中间点均保持匀速运动。
第四章主要实现了基于Internet-DSP的机械臂远程控制系统的连续轨迹控制。在魏子翔师兄开发出的基于Internet-DSP的机械臂远程控制平台基础上,考虑网络延时,计算调用DSP中连续轨迹控制函数时所需要设置的参数(圆弧插补和直线插补),最后进行实际绘图实验,并对结果进行分析。
第五章对本论文的创新之处和研究结论进行了归纳总结,并对下一步研究的内容和方向进行了展望。
With rapid development of Internet, the integration of Internet technology and robot technology becomes an important research direction, so robot remote control based on Internet has been put forward. The Internet-based robot remote control technology can be classified in several methods, and is divided into Internet-PC-based and Internet-DSP-based two kinds of robots remote control systems according to different servo control technologies. With a two-freedom-degree robot arm as the controlled object, the expanding research on the two kinds of robot systems is done, and the main contents can be summarized as follows:
The thesis is divided into five chapters. The first chapter is the introduction, mainly introduces the concept of Internet-based remote control system and its development process, classification and technical issues. Meanwhile, the research foundation and the research content of this thesis are introduced.
Chapter two develops the Internet-PC-based robot arm remote control platform. In order to model the robot arm system so as to design different motion controller in different application conditions, it is necessary to develop of robot arm remote control platform which don’t have DSP motion control panel. This chapter mainly expounds the hardware and software structure of the system, focusing on the comparative analysis between its software implementation and the Internet-DSP-based robot arm of remote control platform’s software implementation (Wei ZiXiang developed). At last, actual drawing experiment is carried out and the experimental results are analyzed.
Chapter three realizes the continuous path control trajectory in the Internet-PC-based robot arm remote control system. Under the point-to-point control mode, the robot arm always stop-and-go, the time performance of the system was reduced and mechanical wear was increased. In order to resolve the problem, Trapezoidal trajectory planning is applied to the path after finding that continuous path trajectory planning is lacked in Internet-PC robot arm remote control system analyzed from aspects of class structure, which can control the robot arm accelerates only at the beginning point, decelerate only at the final point, and keep constant speed all over the intermediate point.
Chapter four realizes the continuous path control in Internet-DSP-based robot arm remote control system. Take the network-delay into consideration, all the parameters (circle interpolation and linear interpolation) which are need to set when realizing the continuous path control function using DSP are calculated. At last, the actual drawing experiment is carried and the results are analyzed.
Chapter 5 summarizes the research achievement of this thesis and points out the content and direction of further research.
全文共分五章。第一章为绪论,主要介绍网络远程控制系统的概念及其发展历程,并介绍网络远程控制系统的分类情况以及技术关键点。同时,在介绍网络远程控制技术研究现状的基础上,简单介绍了本论文的研究基础和研究内容。
第二章主要开发了基于Internet-PC的机械臂网络远程控制系统平台。为了对机械臂系统进行建模研究,以便在已知模型的基础上,可以在不同的应用场合在系统中设计运用不同的运动控制器从而达到较理想的控制效果,有必要开发出不使用DSP运动控制板的机械臂远程控制系统平台。本章主要阐述该系统的硬件和软件结构设计,着重对比分析该平台软件实现上与魏子翔师兄开发出的基于Internet-DSP的机械臂网络远程控制平台的不同之处,并在此基础上进行实际绘图实验研究,并对实验结果进行分析。
第三章实现了基于Internet-PC的机械臂远程控制系统的连续轨迹控制。针对点位控制模式下,机械臂总是走走停停导致系统的时间性能降低,以及系统的机械磨损增加的问题,本章首先从类结构分析出该系统平台的规划器类缺乏的连续轨迹规划功能,对运动轨迹进行梯形连续轨迹规划,从而控制机械臂只在起始点加速,最终点减速,中间点均保持匀速运动。
第四章主要实现了基于Internet-DSP的机械臂远程控制系统的连续轨迹控制。在魏子翔师兄开发出的基于Internet-DSP的机械臂远程控制平台基础上,考虑网络延时,计算调用DSP中连续轨迹控制函数时所需要设置的参数(圆弧插补和直线插补),最后进行实际绘图实验,并对结果进行分析。
第五章对本论文的创新之处和研究结论进行了归纳总结,并对下一步研究的内容和方向进行了展望。
With rapid development of Internet, the integration of Internet technology and robot technology becomes an important research direction, so robot remote control based on Internet has been put forward. The Internet-based robot remote control technology can be classified in several methods, and is divided into Internet-PC-based and Internet-DSP-based two kinds of robots remote control systems according to different servo control technologies. With a two-freedom-degree robot arm as the controlled object, the expanding research on the two kinds of robot systems is done, and the main contents can be summarized as follows:
The thesis is divided into five chapters. The first chapter is the introduction, mainly introduces the concept of Internet-based remote control system and its development process, classification and technical issues. Meanwhile, the research foundation and the research content of this thesis are introduced.
Chapter two develops the Internet-PC-based robot arm remote control platform. In order to model the robot arm system so as to design different motion controller in different application conditions, it is necessary to develop of robot arm remote control platform which don’t have DSP motion control panel. This chapter mainly expounds the hardware and software structure of the system, focusing on the comparative analysis between its software implementation and the Internet-DSP-based robot arm of remote control platform’s software implementation (Wei ZiXiang developed). At last, actual drawing experiment is carried out and the experimental results are analyzed.
Chapter three realizes the continuous path control trajectory in the Internet-PC-based robot arm remote control system. Under the point-to-point control mode, the robot arm always stop-and-go, the time performance of the system was reduced and mechanical wear was increased. In order to resolve the problem, Trapezoidal trajectory planning is applied to the path after finding that continuous path trajectory planning is lacked in Internet-PC robot arm remote control system analyzed from aspects of class structure, which can control the robot arm accelerates only at the beginning point, decelerate only at the final point, and keep constant speed all over the intermediate point.
Chapter four realizes the continuous path control in Internet-DSP-based robot arm remote control system. Take the network-delay into consideration, all the parameters (circle interpolation and linear interpolation) which are need to set when realizing the continuous path control function using DSP are calculated. At last, the actual drawing experiment is carried and the results are analyzed.
Chapter 5 summarizes the research achievement of this thesis and points out the content and direction of further research.
引文
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[2]李林英.网络远程监控与控制系统的研究与应用[D].成都理工大学硕士学位论文,2006
[3]施瑞.基于Internet的机器人远程控制研究[D].南京林业大学硕士学位论文,2007
[4]丛爽,李泽湘.实用运动控制技术[M].北京:电子工业出版社,2006
[5]李天宇.基于ARM技术的网络远程闭环控制系统研究[D].北方工业大学硕士学位论文,2007
[6]王虎,成娟,尹力鹏.光电跟踪系统中的伺服控制技术[J].长春工业大学学报(自然科学版),2006,30(5):533-538
[7]厉虹,杨黎明,艾红.伺服技术.北京:国防工业出版社,2008
[8]吴宏蒋仕龙龚小云等.运动控制器的现状与发展[J].制造技术与机床,2004,1:24-27
[9]张剑,殷苏民.基于运动控制卡的开放式数控系统研制[J].机床与液压,2003,3:170-173
[10]李建升.机械工业自动化中的运动控制新技术[J].郑州铁路职业技术学院学报,2007,19(1):29-31
[11]张旭东,夏加宽,王成元.基于PC机的开放式交流伺服系统的研究[J].控制工程,2007,14(1):96-98
[12]王泽宇.基于DSP的数字伺服控制器设计[J].自动化与仪器仪表,2010,3:28-30
[13]钱志恒,周亚军.基于DSP和FPGA的运动控制器[J].机电工程,2009,26(1):38-41
[14]汪晓平,刘韬等.Visual C++ 6.0开发网络典型应用实例导航[M].人民邮电出版社,2005
[15]郑桦,丛爽,魏子翔.基于网络的机械臂远程控制系统中延时补偿的研究与实现[J].中国科学院研究生院学报,2007,24(4):530-536
[16] Naixue Xiong, Hongyan Li, Tai-hoon Kim, Laurence T. Yang. An Approach on Adaptive Time-delay Estimate and Compensation Control in Internet-based Control Systems [C] .Second International Conference on Future Generation Communication and Networking, 2008:116-121
[17] Mehmet U, Kenan Sava, Hasan Erdal. An Internet-Based Real-Time Remote Automatic Control Laboratory for Control Education[J]. Procedia Social and Behavioral Sciences, 2010(2):5271–5275
[18]曹玲芝,魏尚北,张超等.基于逆系统放大的起重机网络远程控制策略[J].制造业自动化,2009,31(8):85-89
[19]郑桦.机械臂系统的网络远程控制研究与实现[D].中国科学技术大学博士学位论文,2007
[20]高鹏.机器人技术发展浅析[J].高新技术产业发展,2010:21
[21] Chih-Lyang Hwang, Li-Jui Chang. Internet-Based Smart-Space Navigation of a Car-Like Wheeled Robot Using Fuzzy-Neural Adaptive Control [J] .IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2008,16(5): 1271-1284
[22] Satoru GOTO, Takuya NAKA, Yoshitaka MATSUDA .Teleoperation System of Robot Arms Combined with Remote Control and Visual Servo Control[C] .SICE Annual Conference August 18-21,2010:1975-1981
[23]宋一然.基于网络远程控制的检测机器人系统.莆田学院学报[J],2005,12(5):44-47
[24]邓勇军,牛志刚,刘晓恒等.煤矿井下探测机器人远程控制系统[J].机械工程与自动化,2010(3):160-164
[25]郑桦,丛爽.确定性远程网络控制系统中的控制方法[C].第25届中国控制会议,2006(8):1466-1471
[26]郑桦,丛爽.网络控制中不同节点驱动方式对系统性能影响的研究.系统仿真技术及其应用,2007(9):865-870
[27] Shuang Cong, Yuan Ge, Qigong Chen, Ming Jiang, and Weiwei Shang. DTHMM Based Delay Modeling and Prediction for Networked Control Systems [J]. Journal of Systems Engineering and Electronics, 2010,21(6): 1014-1024
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