一种基于最小二乘法的移动机器人拾取臂控制系统研究  

A Research on the Control System of Mobile Robot′s Pickup Arm Based on Least-square Method

作　　者：邱炯智 张宪文 李汶杰 王天雷 张京玲 刘家辉 陈江源 QIU Jiongzhi;ZHANG Xianwen;LI Wenjie;WANG Tianlei;ZHANG Jingling;LIU Jiahui;CHEN Jiangyuan(Intelligent Manufacturing Division,Wuyi University,Jiangmen,Guangdong 529020,China)

机构地区：[1]五邑大学智能制造学部,广东江门529020

出　　处：《机电工程技术》2020年第5期79-81,200,共4页Mechanical & Electrical Engineering Technology

基　　金：2019广东大学生科技创新培育专项基金项目(编号:pdjh2019a0489);2018广东省教学质量工程项目(编号GDJX2018011);2019年国家级大学生创新创业项目(编号201911349006s);2019年五邑大学众创空间大学生创新创业项目(编号:2019CX02)。

摘　　要：设计了一种视觉移动机器人拾取机械臂的控制系统,采用ARM处理器为主控芯片,PCA9685为驱动模块。针对机械臂末端执行器的运动轨迹和取放位置的标定,提出了一种算法,根据占空比中的Di值与拾取位置xi之间的关系,建立了最小二乘法的曲线分段拟合方程,并设计了一组用于该系统的控制指令表,有效地解决了机械臂的运动控制。测试和实践表明,该方法抓取目标物的成功率可达100%。定位精度可控制在2~3 mm,适用于一般精度要求工作场合。A control system for a visual mobile robot to pick up a robot arm was designed. The ARM processor was used as the main control chip and the PCA9685 was used as the driving module. Aimed at the manipulator trajectory actuator and position calibration, an algorithm was proposed. Based on the relationship between the duty ratio of the Divalue and the picking position of xi, the least squares curve fitting equation was established, and a set of system for the control instruction table was designed, the motion control of the manipulator was effectively solved. The test and practical work show that the success rate of the target is 100%, the positioning accuracy can be controlled within 2~3 mm, which is suitable for the general precision requirements.

关 键 词：移动机器人 机械臂 最小二乘法 控制算法 ARM 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]