机械手外文翻译

本本科科毕毕业业设设计计 论论文文 外文翻译 附外文原文 外文翻译 附外文原文 学学 院 院 机械与控制工程学院机械与控制工程学院 课课题题名名称称 搬运机械手的结构和液压系统设计搬运机械手的结构和液压系统设计 专业专业 方向方向 机械设计制造及其自动化 机械装备 机械设计制造及其自动化 机械装备 班班 级 级 学学 生 生 指指导导教教师师 日日 期期 20152015 年年 3 3 月月 1010 日日 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 1 Proceedings of the 33rd Chinese Control Conference July 28 30 2014 Nanjing China The Remote Control System of the Manipulator SUN Hua ZHANG Yan XUE Jingjing WU Zongkai College of Automation Harbin Engineering University Harbin 15000 E mail sunhuas 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 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 slave 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 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 interaction 1 Introduction With the development of the microelectronic technique and 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 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 wireless 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 Verilog language was adopted to design the IP core which generated digital PWM waves for 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 2 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 Hartenberg method to solve the forward and inverse kinematic equations of the manipulator to analyze the motivation to plan and track the motion s path In addition a good interface of human computer interaction was enhanced in the remote control system of the manipulator in PC Moreover the manipulator 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 Planning At first the motion model of the manipulator was built Then the kinematic simulation 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 Manipulator The manipulator was regarded as an open loop kinematic chain It was constituted by five rotary joints And its one end 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 joint The D H parameter table shown as Table 1 was established by using the frames in Fig 1 Fig 1 Coordinate frames of mechanical arm Table 1 D H Parameters of the Robot Arm 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 3 Due to D H method 1 1 1 1 1 1 0 1 1 1 00 1 01 Where S The 1 cos 1 1 sin 1 cos sin transformation matrix of every joint was given by equation 2 0 1 cos 1sin 1 sin 1cos 1 00 00 00 00 10 01 1 2 cos 2 sin 2 00 00 1 1 sin 2 cos 2 00 00 01 2 3 cos 3 sin 3 sin 3cos 3 00 00 00 00 1 2 01 3 4 cos 4 sin 4 00 00 1 3 sin 4cos 4 00 00 01 2 4 5 cos 5 sin 5 sin 5cos 5 00 00 00 00 1 4 01 0 5 00 01 0 1 1 2 2 3 3 4 4 5 Where unit vector in equation 2 was Parameters of mechanical arm were given by 1 85 Therefore the forward kinematic 2 116 3 85 4 95 equation was determined by taking every parameter in equation 3 3 0 5 180 1 2 3 116 1 2 180 1 2 3 116 1 2 85 116 2 180 2 3 In practical application the manipulator was adopted to grab objects This required that the 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 4 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 established 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 transformation separately to the left multiplication with 1 1 the angle of every rotary jointwas 0 5 0 1 1 2 2 3 3 4 4 5 1 2 3 4 5 determined Owing to these results the rotary anglesat terminal position of 1 2 3 manipulator were totally decided by the target position Angle was used to 4 change terminal attitude of the manipulator and it was changed by the known normal vector However angle was decided by the size of target object 5 2 2 Motion Simulation of the Manipulator The 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 2 Fig 2 MATLAB simulation of the manipulator Comparing 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 The 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 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 5 Table 2 Forward Kinematics Analyze Table 3 Inverse Kinematics Analyze 3 Path Planning of the Manipulator The 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 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 was designed to coincide with the limited conditions In this paper we could use these certain limitations to decide some expected points And 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 6 these expected points were used to match the planning path of the manipulator s movement Owing to the planning path coordinate in every part could be calculated 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 segment 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 manipulator 4 Remote Control System of the Manipulator The remote control 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 controller Communicated with PC via wireless serial port While 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 shown in Fig 4 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 7 Fig 4 The block diagram of the remote control system 4 1 Control Mode of the Manipulator There 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 the 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 FPGA 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 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 depending 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 new 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 by PWM waves with the cycle of 20ms Pulse width of these PWM waves was 0 5 2 5ms corresponding to the rotary angle of servo with 90 degree to 90 degree High precision of 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 8 PWM waves were generated by IP core via Verilog in this system The results were shown in Fig 5 PWM waves controlled rotary angles of the servos via the servo drivers Fig 5 The PWM IP core Multiple 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 the manipulator was more flexible and in higher precision in this system Fig 6 The IP cores generating PWM wave The movement of the manipulator was accomplished by the duty ratio of PWM waves Formula 4 inverted rotary angle to the corresponding amount of the duty ratio of PWM waves The duty ratio of PWM waves corresponded to the Nios II output 1000000 50000 90 75000 4 Wireless serial of 9600 baud rate was used to transmit the coordinate and the angle 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 9 information from host computer to FPGA After that the data and orders were analyzed by FPGA Then FPGA transmitted the movement results to interactive 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 System The interactive interface of the remote control system was shown in Fig 7 There were some functions 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 in 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 assured 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 simulation 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 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 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 10 Fig 7 The interactive interface of the manipulator 5 Experiment and Simulation In order to verify properties 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 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 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 simulation 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 11 6 Conclusion In the experiment the 5 DOF manipulator modeling was simulated by MATLAB In the slave FPGA board control of the 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 embedded 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 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 References 1 Saeed B Niku write Sun Fuchun Zhu Jihong Liu Guodong etc translate Robotics Introduction Beijing Electronic Industry Press 2004 1 60 63 132 137 2 Brady M J M Hollerbach T L Johnson T Lozano Perez and M T Mason editors Robot Motion Planning and Control MIT Press Cambridge Mass 1982 3 Paul Richard P Robot Manipulators Mathematics Programming and Control The MIT Press 1981 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 12 4 Li Jian Design and Research of Multi DOF Robot Master degree theses of master of university of technology Chinese acaedemy of sciences 2009 20 31 5 Cheng Liyan Fei Ling Su Zelang The 5 DOF Manipulator Kinematics Simulation Analysis Based on MATLAB Mechanical Research Denavit Hartenberg FPGA 人机交互 1 绪论绪论 随着微电子技术的发展和计算机技术 机械手在制造业中已经成为必不可少的设备 正如我们所熟知的 机械手常适用于完成乏味的 繁重的和反复的体力劳动 特别是 用于替代在危险和有害环境的手动操作 例如腐蚀和高温 在本文中 机械手安装在我们移动机器人上 这种机器手的远程操作系统的设计 整 个系统由个人电脑和从属的 FPGA 构成 操作者可以通过个人电脑远程控制该机器人 无线通信被用于发送个人电脑和 FPGA 之间的数据 FPGA 是在移动机器人上机械手 的控制器 FPGA 具有丰富的内部资源和 IP 内核 和一个中央控制选项 通过内嵌的 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 14 Nios II 程序和 IP 核心 FPGA 建立 Verilog 语言采用设计出生成的数字 PWM 波来控制 机械手的 IP 核 因此 该系统可以达到较高的精度 易于调试 MATLAB 软件采用建立机械手的运动模型 并使用 DH Denavit Hartenberg 的缩写 的方法来解决前进和操纵逆运动学方程 分析动机 计划和跟踪运动路径 此外 人机交互的良好的界面增强在 PC 上的机械手的远程控制系统 而且 机器人仿 真技术是通过使用 VC 和 MATLAB 的混合编程建成 因此 运动编排变得快速 方便 也大大节省了时间 降低了成本 2 2 机械手的模型和路径的规划机械手的模型和路径的规划 首先 建立机械手的运动模型 然后 研究它的运动学仿真和路径规划 这些工作被 用于基础的操纵器的遥控系统的设计 2 12 1 机械手的运动模型机械手的运动模型 机械手就被视为开环运动链 它由五个旋转接头构成 其一端被固定在一个基座上 同时另一端被用来实现敛的能力 因此 最好是建立一个链坐标帧 如图 1 所示 该 终端的位置和姿态是通过使用正向运动学方程知道每个关节的旋转角度后确定 如 1 所示的 DH 参数表 建立了使用框架如图 1 所示 图 1 坐标机械手的帧 表 1 机器人手的 D h 参数值 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 15 由 D H 方法得 1 1 1 1 1 1 0 1 1 1 00 1 01 当 S 每个关节的变换矩阵是 1 cos 1 1 sin 1 cos sin 由方程 2 给出 0 1 cos 1sin 1 sin 1cos 1 00 00 00 00 10 01 1 2 cos 2 sin 2 00 00 1 1 sin 2 cos 2 00 00 01 2 3 cos 3 sin 3 sin 3cos 3 00 00 00 00 1 2 01 3 4 cos 4 sin 4 00 00 1 3 sin 4cos 4 00 00 01 2 4 5 cos 5 sin 5 sin 5cos 5 00 00 00 00 1 4 01 0 5 00 01 0 1T 1 2 T 2 3 T 3 4 T 4 5 T 当单位矢量在方程 2 为 机械手臂参数被赋予 1 85 2 116 3 85 4 95 因此 正向运动方程通过取在公式 3 每一个参数来确定 3 0 5 180 1 2 3 116 1 2 180 1 2 3 116 1 2 85 116 2 180 2 3 在实际应用中 机械手要求能抓住物体 这要求不断该修正位置给出终端给目标位置 这是机械手的逆运动学分析 逆变换被用来确定朝着既定的坐标的每个旋转接头的角 并且逆变换的使用的方法是为了解决这样的问题 该方法也被称为代数方法 的常用 桂桂 林林理理工工大大学学本本科科毕毕业业设设计计 外外文文翻翻译译 16 方法 使用逆变换分别向左侧乘以 每个旋转接头的角 1 10 5T 0 1T 1 2 T 2 3 T 3 4 T 4 5 T 被确定 通过这些结果 旋转角度在机械手的末端位置被完全 1 2 3 4 5 1 2 3 的目标位置决定 角 4 被用于改变机械手的终端的姿态 并改变由已知的法 Px P y P z 线向量 然而 倾斜的 5 由目标对象的大小来决定 2 22 2 机械手的运动仿真机械手的运动仿真 建立机械手模型 并通过 MA