实验教学SCARA机械臂控制算法研究与实现  

RESEARCH AND IMPLEMENTATION OF SCARA MANIPULATOR CONTROL ALGORITHM IN EXPERIMENTAL TEACHING

作　　者：姚晓通[1] 潘影丽 高宇[1] 

机构地区：[1]兰州交通大学电子与信息工程学院,甘肃兰州730070

出　　处：《计算机应用与软件》2017年第6期96-100,112,共6页Computer Applications and Software

基　　金：甘肃省兰州市科技局资助项目(213188)

摘　　要：针对实验教学,设计一种开放式的SCARA教学机械臂,把对控制算法的研究作为教学重点。首次采用仿真设计和实物设计,作为示教的两个主要部分。通过D-H参数法确定运动学方程,根据运动学方程对机械臂进行了正逆运动学分析,结合轨迹规划完成机械臂运动规划。MATLAB建立机械臂模型,通过仿真模型运动验证了前期控制算法分析的准确性。利用Visual Studio 2013实现算法,完成上位机控制系统,通过上位机编程控制机械臂完成物体搬运工作。机械臂能够精准地实现旋转和搬运功能,并验证了控制算法研究和仿真设计的正确性,能够较好地达到实验教学的需求。Aiming at the experimental teaching, an open SCARA teaching manipulator is designed, and the research on the control algorithm is the teaching key points. Simulation design and physical design are used for the first time, as the teaching of two main parts. According to the D-H parameter method, the kinematics equation is determined. The kinematics equation is used to analyse the forward and inverse kinematics of the manipulator, and the motion planning of manipulator is completed according to the trajectory planning. The model of the manipulator is established by MATLAB, and the accuracy of the pre control algorithm is validated by simulation model movement. The algorithm completes PC control system by using Visual Studio 2013, finally through the PC programming control the manipulator to complete object handling work. The manipulator can accurately realize the rotation and handling function to verify the correctness of the control algorithm and simulation design, and can better meet the needs of experimental teaching.

关 键 词：SCARA MATLAB 仿真 轨迹规划 运动控制 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]