基于DM6446的机械臂伺服控制系统设计

发布时间：2019-03-16 15:40

【摘要】：随着科学技术的日益发展,机器人领域得到人们越来越多的关注,机器人技术极大地改变了人们生产和生活方式。在此基础上的机器人视觉伺服技术,通过摄像头等视觉传感器引入视觉信息,使机器人获得更高的感知能力和更强的灵活性,能够在多种多样的场合完成更加复杂的工作。本文研究的对象是RM-501机械臂,以其作为执行机构构建基于位置的视觉伺服控制系统,控制机械臂末端对于运动目标的动态跟踪。首先,对机械臂和运动目标分别进行数学建模,根据跟踪指标和实时性要求对机械臂进行运动学分析,正运动学分析采用D-H法确定关节转动角度和机械臂末端位置的函数关系,逆运动学分析采用几何法求解机械臂当前位置对应各个关节的转动角度。在运动控制部分,推导出机械臂的关节模型,设计基于位置和速度的双闭环控制系统,其中外环为位置环,内环为速度环。控制律采用传统的PID控制方法,在Simulink中搭建控制模块并调试,最终实现多关节的联合运动;在视觉图像处理部分,采用达芬奇数字媒体片上系统ICETEK-DM6446-B作为硬件平台,在Code Composer Studio下编写基于背景差法的图像处理程序,提取运动目标的特征矢量;此外,再通过视觉控制器将目标的位置信息转化为关节电机的期望转动角度值。最后,在Matlab的RTW环境下进行RM-501机械臂的半实物仿真,验证了机械臂伺服控制系统设计的合理性,并根据实际调试的结果分析系统的综合性能。
[Abstract]:With the development of science and technology, people pay more and more attention to robot field. Robot technology has greatly changed people's production and life style. On this basis, the robot visual servo technology, through the camera and other visual sensors to introduce visual information, so that the robot to obtain higher perception and greater flexibility, can be in a variety of situations to complete more complex work. The object of this paper is the RM-501 manipulator, which is used as an actuator to construct a position-based visual servo control system to control the dynamic tracking of moving targets at the end of the manipulator. Firstly, the manipulator and the moving object are modeled mathematically, and the kinematics of the manipulator is analyzed according to the tracking index and the real-time requirement. In the forward kinematics analysis, the function relation between the rotation angle of the joint and the position of the end of the manipulator is determined by the D H method, and the rotation angle of each joint corresponding to the current position of the manipulator is solved by the geometric method in the inverse kinematics analysis. In the motion control part, the joint model of the manipulator is derived, and a double closed loop control system based on position and velocity is designed, in which the outer loop is the position loop and the inner loop is the velocity loop. The control law adopts the traditional PID control method, builds the control module in the Simulink and debugs, finally realizes the multi-joint movement; In the part of visual image processing, the digital media on-chip system ICETEK-DM6446-B is used as the hardware platform, and the image processing program based on background difference method is programmed under Code Composer Studio to extract the feature vector of moving object. In addition, the position information of the target is converted into the desired rotation angle of the joint motor by the visual controller. Finally, the hardware-in-the-loop simulation of the RM-501 manipulator under the RTW environment of Matlab is carried out to verify the rationality of the servo control system design of the manipulator, and the comprehensive performance of the system is analyzed according to the results of practical debugging.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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