基于LabVIEW的二自由度串联机械手轨迹跟踪控制  

Trajectory tracking control of two degree of freedom manipulator based on LabVIEW

作　　者：曾嘉煜 梁锐林 杨坤宏 王雪松 张立群 王宇林 Zeng Jiayu;Liang Ruilin;Yang Kunhong;Wang Xuesong;Zhang Liqun;Wang Yulin(School of Mechanical and Powerengineering, Guangdong Ocean University, Zhanjiang 524088, Chin)

机构地区：[1]广东海洋大学机械与动力工程学院,湛江524088

出　　处：《国外电子测量技术》2017年第11期118-123,共6页Foreign Electronic Measurement Technology

基　　金：广东省大学生创新创业训练计划(1056613045)项目资助

摘　　要：以平面二自由度串联机械手为研究对象,基于LabVIEW平台以及应用PID算法来进行对机械手的轨迹跟踪控制。该系统以NI CompactRIO平台和PC机构筑了系统硬件平台,采用LabVIEW图形化编程语言进行控制软件的编程和建立人机交互界面,来实现机械手预定轨迹跟踪控制功能。通过对现实中二自由度机械手的实验,在LabVIEW的前面板窗口中获得了机械手末端的转角误差曲线。实验结果表明,所设计的平面二自由度机械手轨迹跟踪控制效果良好,能够满足工业现场控制要求。In this paper, the planar two degree of freedom manipulator is taken as the research object. Based on the Lab- VIEW platform and the PID algorithm, the trajectory tracking control of the manipulator is carried out. The system is based on NI CompactRIO platform and PC built the hardware platform of the system, using the graphical programming language LabVIEW control software programming and the establishment of man-machine interface, realizes the manipu- lator a predetermined trajectory tracking control function. Through the experiment of the two degrees of freedom manip- ulator in reality, the angle error curve of the end of the manipulator was obtained in the front panel window of Lab- VIEW. The experimental results show that the plane trajectory, two DOF Manipulator designed the tracking control effect is good, can meet the requirements of industrial field control.

关 键 词：串联机械手 PID算法 LABVIEW 轨迹控制 

分 类 号：TH89[机械工程—仪器科学与技术]