基于桌面机械臂的快速任务调度控制系统设计  

Design of fast task scheduling control system based on desktop manipulator

作　　者：徐亮[1] 刘满禄[2,1] 张静[2,1] 张华[1] 王姮[1] XU Liang;LIU Man-lu;ZHANG Jing;ZHANG Hua;WANG Heng(School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,China;School of Information Science and Technology,University of Science and Technology of China,Hefei 230026,China)

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010 [2]中国科学技术大学信息科学技术学院,安徽合肥230026

出　　处：《传感器与微系统》2018年第8期100-103,共4页Transducer and Microsystem Technologies

基　　金：西南科技大学研究生创新基金资助项目(17YCX121);国家"十三五"核能开发科研资助项目(20161295);四川省科技创新苗子工程资助项目(2017099)

摘　　要：针对机械臂在运动控制系统中,控制实时性不强的问题,提出了一种基于多自由度(Do F)机械臂的快速任务调度的模块化联合控制方法。为验证所提方案的有效性,以Geomagic Touch多自由度桌面机械臂设备作为控制对象,并采用MATLAB进行了系统设计。整体设计分为机械臂的应用程序接口(API)设计、控制系统与任务调度设计和机械臂位姿解算与姿态记录设计。设备的API和控制系统与任务调度采用分模块处理。系统控制部分采用分级任务调度。系统结构为多通道控制信号流和多反馈回路相结合的控制结构。实验结果表明:系统调度执行耗时小,由初始化到首次任务调度执行时间能够控制在0.5 s以内,任务切换调度与执行时间控制在0.12 s以内。系统实时性和动态特性均能满足机械臂控制要求。Aiming at the problem of poor real-time property of control of manipulator in motion control1 system, a method for modular joint control for fast task scheduling based on multi-degree of freedom （DoF） manipulator is put forward. In order to verify the effectiveness of this scheme, taking Geomagie Touch multi-degree of freedom desktop manipulator device as control object, MATLAB is used for system design. The system overall design is divided into three parts, such as the application program interface （API） design of manipulator, control system and task scheduling design, pose and position solving and attitude record design of manipulator. Device API and control system and task scheduling are processed with sub-module. The control part of system uses hierarchical task scheduling. System structure combines muhi-channel control signal flow with multi-feedback loop. Experimental results show that it spends a little time in quickly completing the task scheduling for control system. Time can be controlled within 0.5 s from initialization to the first task scheduling is completed, and the time can be controlled within 0.12 s for task switching scheduling and execution. The real-time and dynamic characteristics of system meet requirements of manipulator control.

关 键 词：桌面机械臂 任务调度 快速性能 多通道控制 姿态解算 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]