串联机械手空间轨迹运动控制方法研究  

Control Method Research in Series Manipulator Space Trajectory

作　　者：程辉辉 刘燕坡 陈礼安 曾钰胜 郭小羽 杜建铭[2] 

机构地区：[1]深圳市德富强机器人有限公司,广东深圳518060 [2]深圳大学机电与控制工程学院,广东深圳518060

出　　处：《机电工程技术》2017年第9期58-61,145,共5页Mechanical & Electrical Engineering Technology

基　　金：深圳市科技应用示范资金资助项目(编号:KJYY20150601141137510);深圳市创客创业资助项目(编号:CK-CY2016042916135915)

摘　　要：以六自由度串联机械手为研究对象,基于自主研发的以DSP+FPGA为核心的运动控制器,提出了一种机械手连续轨迹控制的方法。首先采用D-H坐标建立运动学模型,几何法推导模型逆解并用MATLAB做运动学仿真。然后搭建以DSP+FPGA为控制器的六轴机械手系统,其中DSP主要负责机器人运动学计算和轨迹规划,FPGA则通过数字积分法完成了各关节电机驱动的脉冲分配,以此驱动各关节电机到指定位置。进一步开发了用户友好的交互式图形界面,实时显示机械手的运行轨迹,最后对机械手空间轨迹运动控制方法进行了实验测试,验证了其准确性和实用性。Based on the motion control with DSP ＋ FPGA as the core, a method of continuous trajectory control of manipulator is proposed. Firstly, the kinematic model is established by D-H coordinates, the inverse solution of the model is deduced by geometric analysis and the kinematics simulation is done with MATLAB. And then we build controller of the six-axis robot system with DSP ＋ FPGA as the core. The DSP is mainly responsible for the kinematics and trajectory planning. And FPGA completes the joint motor drive pulse distribution through the digital integration method , in order to drive the joint motor to the specified location. Finally, the accuracy and practicability of the continuous trajectory motion control of the manipulator are verified by off-line simulation and on-line debugging of the robot.

关 键 词：机械手 空间轨迹 D—H坐标 仿真 运动控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]