三自由度机械手控制系统的设计与实现

发布时间：2017-12-27 13:01

本文关键词：三自由度机械手控制系统的设计与实现　出处：《广东工业大学》2016年硕士论文　论文类型：学位论文

【摘要】：机械手作为机器人研究的领域之一,不管在工业还是在其它行业发挥的作用越来越大。随着中国经济的快速发展,国家对机械手的开发研究的支持力度越来越大,对机械手开发的投入也开始飞速增长。随着互联网的发展,中国提出了《中国制造2025》和“互联网工业”,更迎来了三自由度机械手的快速发展。论文的研究对象是在搬运三自由度机械手的基础上设计的机械手控制系统,该机械手控制系统的控制器是基于ARM为核心设计的。其中,它是基于关节型固定式三自由度搬运机械手,机械手控制系统的设计与控制是本文对机械手研究的主要内容。本文在原有的三自由度机械手基础上对其进行了数学建模、控制器的设计以及Android APP的设计和开发、硬件和软件系统的设计和开发以及机械手轨迹控制算法的设计。主要内容如下：(1)本文在现有的三自由度机械手的基础上,对三自由度机械手进行机械结构分析,并基于D-H方法建立了机械手的正向运动学和逆向运动学模型。另外,本文基于牛顿-欧拉公式方法和拉格朗日方法并在现有的三自由度机械手的基础上建立了运动学和动力学模型。(2)在前面对机械手动力学和运动学研究的基础上,为了能有更快的跟踪速度、轨迹跟踪性能以及克服三自由度机械手本身不确定性的干扰,本文在对滑模控制算法深入研究的前提下,提出了基于高增益微分器的单关节机械手滑模控制轨迹跟踪控制算法。通过MATLAB仿真表明本文提出的基于高增益微分器的滑模控制算法具有快速跟踪和抗干扰性能。(3)介绍了基于ARM的三自由度机械手控制系统的硬件设计和软件开发以及基于Android系统的APP的设计和开发。三自由度机械手硬件系统控制器可分为电源模块、CAN模块、PWM信号处理模块、串口模块和WiFi模块。软件系统包括机械手控制系统控制器、交互式控制机软件设计与开发以及Android APP的设计与开发。该控制系统成本低廉、性能非常高,而且还可以通过手机、平板等移动终端通过APP来远程控制机械手的运动。
[Abstract]:As one of the fields of robot research, manipulator is playing a more and more important role in industry and in other industries. With the rapid development of China's economy, the country has more and more support for the development and research of the manipulator, and the investment in the development of the manipulator has also begun to increase rapidly. With the development of the Internet, China has put forward "China made 2025" and "Internet industry", and ushered in the rapid development of three degrees of freedom manipulator. The object of this paper is to design a manipulator control system based on three degrees of freedom manipulator. The controller of the manipulator control system is designed based on ARM. It is based on the joint type fixed three degree of freedom manipulator, and the design and control of the manipulator control system is the main content of this paper. Based on the original three degrees of freedom manipulator, we have made mathematical modeling, controller design, Android APP design and development, hardware and software system design and development, and robot trajectory control algorithm design. The main contents are as follows: (1) based on the existing three degrees of freedom manipulator, this paper analyzes the mechanical structure of three DOF Manipulator, and establishes the forward kinematics and inverse kinematics model of the manipulator based on the D-H method. In addition, based on Newton Euler formula and Lagrange's method, a kinematic and dynamic model is established based on the existing three degrees of freedom manipulator. (2) based on the face of the manipulator dynamics and kinematics study, in order to have a faster tracking speed, trajectory tracking performance and overcome the interference of three DOF Manipulator is uncertainty, based on the sliding mode control algorithm under the premise of in-depth study, put forward the high gain differentiator single sliding joint manipulator control of trajectory tracking control algorithm based on. The simulation of MATLAB shows that the sliding mode control algorithm based on high gain differentiator has fast tracking and anti-jamming performance. (3) the hardware design and software development of the three degree of freedom manipulator control system based on ARM and the design and development of the APP based on the Android system are introduced. The hardware system controller of three degrees of freedom manipulator can be divided into power module, CAN module, PWM signal processing module, serial module and WiFi module. The software system includes the controller of the manipulator control system, the design and development of the interactive control machine software and the design and development of the Android APP. The control system is low cost and very high performance, and can also control the motion of the manipulator remotely through mobile terminals, such as mobile phone and flat plate, through APP.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP241

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