多自由度灵巧手控制系统的设计与研究

发布时间：2018-01-12 01:15

本文关键词：多自由度灵巧手控制系统的设计与研究　出处：《中北大学》2017年硕士论文　论文类型：学位论文

【摘要】：多自由度灵巧手是机器人的末端执行器之一,其灵活性和可控制性是自动化水平的重要体现,极大的影响了机器人的智能化水平。因此,多自由度灵巧手控制系统的设计和控制方法的研究,已成为机器人拟人化研究面临的紧迫任务。本文研究并总结了国内外灵巧手控制系统,设计了一种使用分层控制方法的多自由度灵巧手控制系统,采用基于位置的阻抗控制策略实现了灵巧手的柔性运动控制,具有较强的实际应用价值。本文首先对国内外灵巧手的控制系统和控制方法进行了分析,在此基础上,采用分层控制的思想设计了灵巧手的控制系统。顶层为规划层,对灵巧手的抓取运动进行整体规划,用Visual Studio软件设计人机交互界面,可以发出单指或多指运动控制指令,能够显示手指关节转角和手指指尖力的变化曲线,可以对传感器和通讯接口进行设置。中间层采用DSP芯片协调每根手指之间的运动。底层采用FPGA对灵巧手单个手指的运动进行控制。顶层与中间层的通信采用USB接口通信,中间层与底层的通信采用LVDS通信。其次,对灵巧手的核心控制器DSP和FPGA的电路进行了设计,利用FPGA对手指传感器的信号进行采集,并且控制直流电机的运动。选取合适的手指传感器,设计了传感器的信号处理电路。在硬件设计的基础上,对控制系统的软件进行了设计,包括人机交互界面和相关程序的设计。最后,采用机器人D-H参数法建立灵巧手的运动模型,并进行了运动学分析,推导出雅可比矩阵。在设计好的控制系统基础上对灵巧手的位置控制和基于位置的阻抗控制进行了研究和实验。
[Abstract]:Multi-degree-of-freedom dexterous hand is one of the end actuators of robot. Its flexibility and controllability is an important embodiment of the automation level, which greatly affects the intelligent level of the robot. The design and control method of multi-degree-of-freedom dexterous hand control system has become an urgent task for robot personification research. This paper studies and summarizes the domestic and foreign dexterous hand control system. A multi-degree-of-freedom dexterous hand control system using hierarchical control method is designed. The flexible motion control of the dexterous hand is realized by using the impedance control strategy based on position. This paper first analyzes the control system and control methods of dexterous hand at home and abroad, and on this basis. The control system of dexterous hand is designed by using the idea of layered control. The top layer is the planning layer, the grasp movement of dexterous hand is planned as a whole, and the man-machine interface is designed with Visual Studio software. Can issue single or multi-finger motion control instructions, can show the finger joint angle and finger tip force change curve. The sensor and communication interface can be set up. The middle layer uses DSP chip to coordinate the movement between each finger. The bottom layer uses FPGA to control the movement of a single finger of a dexterous hand. The communication is based on USB interface. The communication between the middle layer and the bottom layer adopts LVDS. Secondly, the circuit of DSP and FPGA, the core controller of dexterous hand, is designed, and the signal of finger sensor is collected by FPGA. The signal processing circuit of the sensor is designed. Based on the hardware design, the software of the control system is designed. Finally, the robot D-H parameter method is used to establish the motion model of dexterous hand, and the kinematics analysis is carried out. The Jacobian matrix is derived. Based on the designed control system, the position control and the impedance control of the dexterous hand are studied and tested.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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