Arduino环境下冗余度机械臂E47算法的实现  

Implementation of E47 algorithm of redundant manipulator in Arduino environment

作　　者：李克讷[1] 王温鑫 胡旭初 马玉如 贺之祥 袁伟明 叶洪涛 LI Kene;WANGWenxin;HU Xuchu;MAYuru;HE Zhixiang;YUANWeiming;YE Hongtao(School of Electrical,Electronic and Computer Science,Guangxi University of Science and Technology,Liuzhou 545616,China;Guangxi Liuzhou Special Transformer Co.,Ltd.,Liuzhou 545006,China;Guangxi Key Laboratory for Automatic Detecting Technology and Instruments,Guilin University of Electronic Technology,Guilin 541004,China;Guangxi Key Laboratory of Automobile Components and Vehicle Technology(Guangxi University of Science and Technology),Liuzhou 545006,China)

机构地区：[1]广西科技大学电气电子与计算机科学学院,广西柳州545616 [2]广西柳州特种变压器有限责任公司,广西柳州545006 [3]桂林电子科技大学广西自动检测技术与仪器重点实验室,广西桂林541004 [4]广西汽车零部件与整车技术重点实验室(广西科技大学),广西柳州545006

出　　处：《广西科技大学学报》2022年第2期74-82,共9页Journal of Guangxi University of Science and Technology

基　　金：国家自然科学基金项目(61663003);广西科技大学研究生教育创新计划项目(GKYC202007);广西自动检测技术与仪器重点实验室开放基金项目(YQ20208);2020年广西汽车零部件与整车技术重点实验室自主研究课题(2020GKLACVTZZ01)资助。

摘　　要：针对目前机械臂运动规划与控制系统成本较高,机器人技术难以普及等问题,选择8位单片机实现机械臂运动规划算法;为提高机械臂执行任务的实时性,提出了一种基于Simulink的机械臂运动规划硬件实现模型。首先,对机械臂进行运动学分析,建立数学模型;其次,将机械臂的运动规划问题转化成二次规划问题,同时引入误差补偿函数以减小机械臂运动过程中产生的位置误差;在Arduino Mega2560平台下,利用E47数值算法对机械臂运动规划问题进行求解;利用Matlab对机械臂执行圆形和正方形轨迹跟踪任务进行仿真实验;最后,通过硬件实现模型对机械臂执行正方形轨迹进行实物验证。结果表明:8位单片机对机械臂运动规划算法的实现具有可行性和可适用性,在硬件实现模型中具有有效性,为后续更好地研究机械臂运动规划提供了参考。The high cost of the motion planning and control system of the manipulator decreases practical opportunities for the related educatees,which makes it difficult to popularize the robot technology.In this paper,an 8-bit microcontroller was used to implement the manipulator motion planning algorithm and a hardware implementation model of manipulator motion planning based on Simulink was proposed to improve the real-time performance of manipulator.Firstly,the kinematic analysis of the manipulator was given out,and the mathematical model was established.Secondly,the motion planning scheme of the manipulator was transformed into a quadratic programming problem,and the error compensation function was introduced to reduce the position-error generated during the manipulator motion.Then,in the Arduino Mega2560 platform,the E47 algorithm was used to resolve the manipulator motion planning scheme;the Matlab was used to perform the circular and square path tracking tasks of the manipulator.Finally,the hardware implementation model was used to verify the square trajectory of the manipulator.The results indicate the feasibility and applicability to realize the manipulator motion planning algorithm using the 8-bit microcontroller,and the validity of the hardware implementation model,which provides a basis for the study of the motion planning of the manipulator.

关 键 词：8位单片机 机械臂运动规划 E47数值算法 误差补偿 硬件实现模型 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP183[自动化与计算机技术—控制科学与工程]