基于开源软硬件的3自由度机械手控制系统设计
发布时间：2018-12-16 14:45
【摘要】：采用开源的Arduino Melzi电路板作为控制主板,并将机械手运动学反解算法加入到开源的Marlin固件程序中,设计出了桌面型关节机械手的控制系统,实现了利用G代码控制3自由度关节机械手的目的。该控制系统采用Pronterface作为上位机,可以实现在线和离线控制。测试结果证明,采用这种直角坐标与旋转坐标之间点对点变换的方法控制机械手,能使其轨迹正确、运动平稳,可靠性好。
[Abstract]:The open source Arduino Melzi circuit board is used as the control board, and the kinematics inverse solution algorithm of manipulator is added to the open source Marlin firmware program, and the control system of the desktop joint manipulator is designed. The purpose of using G code to control 3 DOF joint manipulator is realized. The control system uses Pronterface as the host computer and can be controlled on-line and off-line. The test results show that the method of point-to-point transformation between rectangular coordinate and rotation coordinate can make the manipulator track correct, stable and reliable.
【作者单位】： 南通理工学院机电工程学院;常州刘国钧高等职业技术学校机电工程系;
【分类号】：TP241
，
本文编号：2382527
[Abstract]:The open source Arduino Melzi circuit board is used as the control board, and the kinematics inverse solution algorithm of manipulator is added to the open source Marlin firmware program, and the control system of the desktop joint manipulator is designed. The purpose of using G code to control 3 DOF joint manipulator is realized. The control system uses Pronterface as the host computer and can be controlled on-line and off-line. The test results show that the method of point-to-point transformation between rectangular coordinate and rotation coordinate can make the manipulator track correct, stable and reliable.
【作者单位】： 南通理工学院机电工程学院;常州刘国钧高等职业技术学校机电工程系;
【分类号】：TP241
，
本文编号：2382527
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