機械手外文翻譯

1、本科畢業(yè)設(shè)計(論文)外文翻譯（附外文原文） 學(xué) 院： 機械與控制工程學(xué)院 課題名稱： 搬運機械手的結(jié)構(gòu)和液壓系統(tǒng)設(shè)計 專業(yè)(方向)： 機械設(shè)計制造及其自動化（機械裝備） 班 級： 學(xué) 生： 指導(dǎo)教師： 日 期： 2015年3月10日 Proceedings of the 33rd Chinese Control ConferenceJuly 28-30, 2014, Nanjing, ChinaThe Remote Control System of the ManipulatorSUN Hua, ZHANG Yan, XUE Jingjing , WU ZongkaiCollege of A

2、utomation, Harbin Engineering University, Harbin 15000E-mail: Abstract: A remote control system of the 5 degree of freedom manipulator was designed. This manipulator was installed into our mobile robot to constitute a remote rescue robot. The Denavit-Hartenberg method was used to

3、establish the kinematic models and the path planning of the manipulator was researched. The operator could remote control the manipulator by the interactive interface of PC which could display moving picture and various data of the manipulator. The servos of the manipulator were controlled by the sl

4、ave FPGA controller. In addition, the slave FPGA controller communicated with the PC via the wireless communication module. Owing to the embedded Nios II program and IP (Intellectual Property) core generating PWM waves in FPGA, the system could control the multiple servos fast and flexible. In order

5、 to achieve real-time operation and simulation, the interactive interface was established by the mixed programming of VC and MATLAB.Key Words: The manipulator; Remote control; Denavit-Hartenberg; FPGA; Human-computer interaction1 IntroductionWith the development of the microelectronic technique and

6、the computer technology, the manipulator has become essential equipment in the manufacturing industry. As we all known, the manipulator is usually applied to accomplish dull, onerous and repeated physical work, especially used to substitute the manual operation under the dangerous and the hazardous

7、environment such as the corrosion and the high temperature.In this paper, the manipulator was installed our mobile robot. The tele-operation system of this manipulator was designed. The whole system is onstituted by PC and slave FPGA. The operator can remote control the manipulator by PC. The wirele

8、ss communication was used for transmitting data between PC and FPGA. FPGA is controller of the the manipulator in the mobile robot. FPGA has the abundant internal resource and IP cores. And a central control option was built via an embedded Nios II program and an IP core in FPGA. Furthermore, Verilo

9、g language was adopted to design the IP core which generated digital PWM waves for controlling the manipulator. Therefore, this system could reach higher precision and easy to debug.MATLAB software was adopted to build the kinematic models of manipulator. And using D-H (the acronym of Denavit-Harten

10、berg) method to solve the forward and inverse kinematic equations of the manipulator, to analyze the motivation, to plan and track the motions path. In addition, a good interface of human-computer interaction was enhanced in the remote control system of the manipulator in PC. Moreover, the manipulat

11、or simulation technology was built by using the mixed programming of VC and MATLAB. Thus, the motion choreographs was got quickly and easily, also greatly saved time and cut the cost.2 Manipulator Model and Path PlanningAt first, the motion model of the manipulator was built. Then, the kinematic sim

12、ulation and its path planning were researched. These works provided the foundation for the design of the remote control system of the manipulator.2.1 Motion Model of the ManipulatorThe manipulator was regarded as an open loop kinematic chain. It was constituted by five rotary joints. And its one end

13、 was fixed on a base while the other end was used to achieve the ability of grabbing. Therefore, it is better to establish a chain coordinate frame as shown in Fig.1. The terminal position and attitude was determined via using forward kinematic equation after knowing the rotating angle of every join

14、t. The D-H parameter table shown as Table 1 was established by using the frames in Fig.1.Fig.1 Coordinate frames of mechanical armTable 1 D-H Parameters of the Robot ArmDue to D-H method:n+1nT=An+1=Cn+1-Sn+1Sn+1CanCn+1Can0an-San-Sandn+1Sn+1SanCn+1San00CanCandn+101Where Cn+1=cosn+1 , Sn+1=sinn+1 , Ca

15、n=cosan , San=sinan . The transformation matrix of every joint was given by equation (2). 10T=cos1sin1sin1cos01 21T=cos2-sind1-sin2-cos32T=cos3-sin3sin3cosd201 43T=cos4-sin40000-1-d3sin4cos54T=cos5-sin5sin5cosd401 50T=nxnxnynynxnxnynynznz00nznz01=10T2*1T3*2T4*3T5*4T (2)Where unit vectorn,o,a in equa

16、tion (2) was n=normal, n=orientation, n=approach, n=position. Parameters of mechanical arm were given by d1=85mm, d2=116mm, d3=85mm , d4=95mm. Therefore the forward kinematicequation was determined by taking every parameter in equation (3).50P=180C1S2+3+116C1S2180S1S2+3+116C1S285+116C2+180C2+3 (3)In

17、 practical application, the manipulator was adopted to grab objects. This required that the fixed position was given from terminal to target location. That was the inverse kinematic analysis of manipulator. Inverse transformation was used to determine angle of every rotary joint toward the establish

18、ed coordinates. And the used method of inverse transformation was the common method to solve such problem (this method also known as algebraic method).Using inverse transformationnn-1T-1 separately to the left multiplication with 50T=10T2*1T3*2T4*3T5*4T , the angle of every rotary joint（1 2 3 4 5）wa

19、s determined. Owing to these results, the rotary angles（123）at terminal position of manipulator were totally decided by the target positionPx Py Pz. Angle 4 was used to change terminal attitude of the manipulator and it was changed by the known normal vector. However, angle 5, was decided by the siz

20、e of target object.2.2 Motion Simulation of the ManipulatorThe manipulator model was built and simulated via MATLAB toolbox. We could verify the rationality of the mathematical model. While the MATLAB model was established by table 1 and shown as Fig.2Fig.2 MATLAB simulation of the manipulatorCompar

21、ing to the Fig.1 and Fig.2, the simulation model of the manipulator was coincided to the reference frame model. That was to say, the given coordinate frame was correct. These results also could be proved by the determined inverse kinematic equations via MATLAB shown in the table (2) and table (3).Th

22、e target position was solved by forward kinematics. After that, the rotary angles were calculated by inverse kinematical equation. It turned out that these rotary angles coincided to the given angles. Therefore, these results verified the correctness of forward and inverse kinematical equation. Tabl

23、e (2) Forward Kinematics AnalyzeTable (3) Inverse Kinematics Analyze3 Path Planning of the ManipulatorThe total displacement of joint was calculated by inverse kinematical equation when the manipulator moved to new position. Thus, the manipulator could move to new position. Although the manipulator

24、finally moved to the expected position in such condition, the motion of the manipulator between these two points was unknown. Due to space limitations, motion and some certain position requirements, the manipulator was often unable to move as the above mentioned method. Therefore, the motion path wa

25、s designed to coincide with the limited conditions.In this paper, we could use these certain limitations to decide some expected points. And these expected points were used to match the planning path of the manipulators movement. Owing to the planning path, coordinate in every part could be calculat

26、ed. The rotary angle of every joint was calculated via inverse kinetical equation and these angles realized the movement of planning path. Movement of the manipulator was shown in Fig.3 (Where? represented the points would be passed by the manipulator; *represented the expected points of every segme

27、nt; -represented path planning of the manipulator). In Fig.3, we could see that the motion of the manipulator passed every planning point and the movement path coincided to the planning path.Fig.3 The path planning simulation of the manipulator4 Remote Control System of the ManipulatorThe remote con

28、trol system of the manipulator contains the main PC and the slave FPGA controller using DE2 Board of ALTER Company. The motors of the manipulator were controlled by multipath PWM waves. And the PWM waves were generated by IP core. The FPGA controllerCommunicated with PC via wireless serial port. Whi

29、le in the PC interaction, the operator could observe the move of the manipulator in real-time and tele-control the motion of the manipulator. Also every movement of manipulator could be observed in advance via the simulation technique. The general design of the manipulator remote control system was

30、shown in Fig.4.Fig.4 The block diagram of the remote control system4.1 Control Mode of the ManipulatorThere were two control modes of the manipulator. One mode is that the inverse kinematical equations are calculated by FPGA straightly to determine angle of every rotary joint. Thus, the control of t

31、he manipulator was achieved. The advantage of this mode is more direct and independent to finish the control of the manipulator without the external devices. At the same time, this mode has large quantities of calculations, which occupy more internal storage and running time of FPGA. Resources of FP

32、GA are wasted under this mode.The other mode accomplished the control of the manipulator by using VC and MATLAB in PC. Using VC and MATLAB finished a large number of complex calculations and determined angle of every rotary joint. And the angle results were transmitted to FPGA in order to accomplish

33、 the control of the manipulator. This manner saved lots of internal storage and running time. In addition, FPGA could finish other works under this mode. But the manipulator was not under fast control in this mode.In this system, a new mode was adopted in the manipulator remote control system depend

34、ing on the advantages of the two modes. Specifically, when the manipulator accomplished the specified and repeated movement the former mode was adopted under direct control by FPGA. When the manipulator wanted to achieve new motions the latter mode was used to be commanded by orders from PC. This ne

35、w mode was made good use of advantages of the two modes in the above. And this new mode lightened computational burden and improved working efficiency of the manipulator.4.2 SOPC Design for the Remote Control System Movement of the manipulator was controlled by servos. And the servos were controlled

36、 by PWM waves with the cycle of 20ms. Pulse width of these PWM waves was 0.52.5ms corresponding to the rotary angle of servo with -90 degree to 90 degree. High precision of PWM waves were generated by IP core via Verilog in this system. The results were shown in Fig.5. PWM waves controlled rotary an

37、gles of the servos via the servo drivers.Fig.5 The PWM IP coreMultiple of IP cores were able to be downloaded into FPGA. And multiple PWM waves with high precision were generated in the output. As shown in Fig.6, the pulse width of these waves could be settled by program of Nios II. The movement of

38、the manipulator was more flexible and in higher precision in this system.Fig.6 The IP cores generating PWM waveThe movement of the manipulator was accomplished by the duty ratio of PWM waves. Formula (4) inverted rotary angle n to the corresponding amount of the duty ratio of PWM waves. The duty rat

39、io of PWM waves corresponded to the Nios II output.PWMn=-n*+75000 （4）Wireless serial of 9600 baud rate was used to transmit the coordinate and the angle information from host computer to FPGA. After that, the data and orders were analyzed by FPGA Then FPGA transmitted the movement results to interac

40、tive interface of host computer via wireless transition model. This communication was realized through adding UVRT communication protocol to FPGA.4.3 The Interactive Interface of the Remote Control SystemThe interactive interface of the remote control system was shown in Fig.7. There were some funct

41、ions in the interactive interface: video observation, the manipulator control and the simulation modeling.At first, the manipulator video could be seen from camera to interactive interface. The operator could monitor the manipulator in real-time. Secondly, the angle and the coordinate could be set i

42、n control zone of the interactive interface. The angle of the manipulator could be set independently to each single joint. In addition, the angle setting could be shown in real-time in the list of interactive interface (as shown in Fig.7). In the set of coordinates, judging of coordinate setting ass

43、ured that the total coordinates could achieve to the target points. Thus the manipulator could be controlled to move in the settled path depend on the angle information.Lastly, the MATLAB robot toolbox was embedded into this interactive interface. One interface was integrated both the control and si

44、mulation of the manipulator. MATLAB robot toolbox was directly used by interactive interface in the manipulator modeling. Each group of information was simulated separately in order to detect whether each movement was correct. And the general simulation could test whether movement arrangement of the

45、 manipulator was reasonable. Combining with multiple simulation methods made the movement arrangement more flexible, the operation of the manipulator simpler and interface interaction more perfect.Fig.7 The interactive interface of the manipulator5 Experiment and SimulationIn order to verify propert

46、ies of the remote control system of the manipulator, experiments of the system were under way and were comparing to the simulation system. To be specific, manipulator modeling was built by interactive interface and a group of coordinates could be designed. These coordinates were transmitted to FPGA,

47、 which controlled the servos to accomplish the movement of the manipulator. Joint angles, the terminal coordinates shot by interface video. The simulation results were shown in Fig.8.Comparing the real movement and the simulation results, we could see that the manipulator modeling and control of the

48、 interactive interface design comforted to the design requirement. The comparing between experiment and simulation was shown in Fig.8.Fig.8 The experiment and the simulation6 ConclusionIn the experiment, the 5-DOF manipulator modeling was simulated by MATLAB. In the slave FPGA board, control of the

49、manipulator was accomplished via IP core based on the Verilog language. That greatly reduced design of the peripheral circuit, cut the cost, improved the precision and made the movement smoother without shaking. While in the interactive interface, the mixed programming method of VC and MATLAB was em

50、bedded into the MATLAB simulation function. Thus the operability of this manipulator was enhanced. The system had a good ability of interactive interface. The whole system was verified and achieved to the expected effect. One new thing in this system was that embedded the MATLAB robot toolbox in the

51、 interactive interface. The D-H modeling, path planning and tele-operation and so on were accomplished by using this interactive interface directly. Compared to the other development tools, this interactive interface had portability, good compatibility, short development cycle and simple operation.R

52、eferences 1 Saeed B. Niku write, Sun Fuchun, Zhu Jihong, Liu Guodongetc translate: Robotics Introduction, Beijing, ElectronicIndustry Press, 2004(1):60-63,132-137.2 Brady, M.J.M.Hollerbach, T.L.Johnson, T.Lozano-Perez, andM.T.Mason, editors, Robot Motion; Planning and Control,MIT Press, Cambridge, M

53、ass, 1982.3 Paul Richard P., Robot Manipulators, Mathematics,Programming, and Control, The MIT Press 1981.4 Li Jian, Design and Research of Multi-DOF Robot, Masterdegree theses of master of university of technology, Chineseacaedemy of sciences, 2009?20-31.5 Cheng Liyan, Fei Ling, Su Zelang, The 5-DO

54、F ManipulatorKinematics Simulation Analysis Based on MATLAB,Mechanical Research & Application, 2011(06).6 Zhang Puxing Jia Qiuling, Mechanical Arm Multi-channelServo Control Design based on FPGA, Small and specialelectrical machine. 2011, 39(4)第33屆中國控制會議論文集中國，南京，2014年28-30日機械手的遠程控制系統(tǒng)孫華、張媛、薛晶晶、吳宗凱哈爾濱

55、工程大學(xué)，哈爾濱15000學(xué)院，自動化專業(yè)電子油箱：摘要：一種5自由度機械手的遠程控制系統(tǒng)的設(shè)計。這種機械手被安裝到我們的移動機器人構(gòu)成遠程救援機器人。這種Denavit-Hartenberg方法被用于建立運動學(xué)模型和機械手操作的路徑規(guī)劃的研究。操作者可以通過個人電腦來顯示移動圖像和操縱器的各種數(shù)據(jù)的交互式界面遠程控制機械手。操縱器的伺服系統(tǒng)是由從屬的FPGA控制器控制。此外，從屬的FPGA控制器經(jīng)由所述無線通信模塊的個人計算機進行通信。由于嵌入的Nios II程序和IP（知識產(chǎn)權(quán)）核生成PWM波，該系統(tǒng)可以控制多個伺服的快速性和靈活性。為了實現(xiàn)實時操作和

56、仿真，人機交互界面，建立了VC和MATLAB的混合編程。關(guān)鍵詞：機械手、遠程控制;、Denavit-Hartenberg;、FPGA、人機交互1.緒論隨著微電子技術(shù)的發(fā)展和計算機技術(shù)，機械手在制造業(yè)中已經(jīng)成為必不可少的設(shè)備。正如我們所熟知的，機械手常適用于完成乏味的、繁重的和反復(fù)的體力勞動，特別是用于替代在危險和有害環(huán)境的手動操作，例如腐蝕和高溫。在本文中，機械手安裝在我們移動機器人上。這種機器手的遠程操作系統(tǒng)的設(shè)計。整個系統(tǒng)由個人電腦和從屬的FPGA構(gòu)成。操作者可以通過個人電腦遠程控制該機器人。無線通信被用于發(fā)送個人電腦和FPGA之間的數(shù)據(jù)。 FPGA是在移動機器人上機械手的控制器。 FPG

57、A具有豐富的內(nèi)部資源和IP內(nèi)核。和一個中央控制選項，通過內(nèi)嵌的Nios II程序和IP核心FPGA.建立，Verilog語言采用設(shè)計出生成的數(shù)字PWM波來控制機械手的IP核。因此，該系統(tǒng)可以達到較高的精度，易于調(diào)試。MATLAB軟件采用建立機械手的運動模型，并使用DH（Denavit-Hartenberg的縮寫）的方法來解決前進和操縱逆運動學(xué)方程，分析動機，計劃和跟蹤運動路徑。此外，人機交互的良好的界面增強在PC上的機械手的遠程控制系統(tǒng)。而且，機器人仿真技術(shù)是通過使用VC和MATLAB的混合編程建成。因此，運動編排變得快速，方便，也大大節(jié)省了時間，降低了成本。2 機械手的模型和路徑的規(guī)劃首先，建立機械手的運動模型。然后，研究它的運動學(xué)仿真和路徑規(guī)劃。這些工作被用于基礎(chǔ)的操縱器的遙控系統(tǒng)的設(shè)計。2.1機械手的運動模型機械手就被視為開環(huán)運動鏈。它由五個旋轉(zhuǎn)接頭構(gòu)成。其一端被固定在一個基座上，同時另一端被用來實現(xiàn)斂的能力。因此，最好是建立一個鏈坐標幀，如圖1所示。該終端的位置和姿態(tài)是通過使用正向運動學(xué)方程