便携移动机器人操作机械臂与控制研究

发布时间：2019-01-26 08:17

【摘要】：随着机器人技术的发展,作为机器人的一个分支,机械臂控制技术的研究越来越成为机器人技术的研究热点。为了完成对远端机械臂的操作控制任务,本文完成了移动机械臂本体的结构设计与仿真并设计了基于QNX的移动式机械臂控制系统。操作者可以通过机械臂的遥操作控制完成指定任务。本文以QNX实时操作系统为开发平台,以C语言为开发工具,设计并实现了机械臂的控制系统。该控制系统不仅满足机械臂的控制要求,而且具有广泛的通用性,改变控制对象后只需经过少量改造就可满足新的控制要求。本文从机械臂机械设计构型、机械臂建模、系统硬件及软件设计等方面研究了移动机械臂。首先,完成了机械臂机械构型的设计及运动学方程的推导,完成了机械臂逆运动学仿真,在轨迹规划中以路径最短为研究目标并进行了仿真,仿真实验表明该算法计算快速、精度高、满足实时性要求。其次,研究了控制系统的硬件设计,详细分析了系统各硬件部分的功能和实现方式,设计了系统的通讯网络结构,根据通讯需求确定各网络的工作方式。最后,研究了控制系统的软件设计方案,在介绍了QNX系统特点的基础上,阐述了控制系统软件的总体设计方案,然后又分析QNX系统多线程处理特点的基础上,设计了控制系统的多线程结构,并根据各线程的任务特点设定了各线程的优先级和调度策略。实验结果显示,本次设计的顺利地完成了实验目的,实现了预期的控制目标。
[Abstract]:With the development of robot technology, as a branch of robot, the research of manipulator control technology has become a hot research topic of robot technology. In order to accomplish the operation and control task of the remote manipulator, the structure design and simulation of the mobile manipulator body are completed, and the mobile manipulator control system based on QNX is designed. The operator can accomplish the assigned task through the teleoperation control of the manipulator. In this paper, the control system of manipulator is designed and implemented on the platform of QNX real time operating system and C language. The control system not only meets the control requirements of the manipulator, but also has a wide range of versatility. After changing the control object, the new control requirements can be satisfied with only a small amount of modification. In this paper, the design configuration, modeling, hardware and software design of mobile manipulator are studied. Firstly, the design of mechanical configuration of manipulator and the derivation of kinematics equation are completed, and the inverse kinematics simulation of manipulator is completed. The shortest path is taken as the research goal in trajectory planning and the simulation results show that the algorithm is fast. High accuracy, meet the real-time requirements. Secondly, the hardware design of the control system is studied, the function and realization of each hardware part of the system are analyzed in detail, the communication network structure of the system is designed, and the working mode of each network is determined according to the communication requirement. Finally, the software design scheme of the control system is studied. On the basis of introducing the characteristics of the QNX system, the overall design scheme of the control system software is expounded, and then the multithread processing characteristics of the QNX system are analyzed. The multi-thread structure of the control system is designed, and the priority and scheduling strategy of each thread is set according to the task characteristics of each thread. The experimental results show that the design has successfully completed the purpose of the experiment and achieved the expected control goal.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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