宋东亚

• 1:郑州工业应用技术学院

摘要(Abstract)：

基于PLC的机械臂运行轨迹控制系统通过PLC采集现场信号及输出信号的状态变化实现机械臂运行轨迹的控制,不能实现多自由度机械臂控制。设计基于单片机的机械臂运行轨迹在线控制系统,系统硬件由上位机PC在线控制、主控制板和机械臂舵机控制板构成,通过光电编码器位移传感器实现机械臂位置、位移感觉,利用舵机控制板采用Arduino舵机扩展板和D-H理论,构建机械臂结构模型,实现多自由度机械臂的控制。系统软件主要由上位机在线控制部分、主控制板控制程序和舵机控制板程序组成,由主控板控制程序和上位机在线控制程序两部分实现机械臂控制,通过单片机系统时钟初始化提高系统的运行速度。实验结果表明,所设计的系统能够稳定、快速地实现机械臂轨迹控制,并且准确度高。

关键词(KeyWords)： 单片机;机械臂;运行轨迹;舵机控制;光电编码器;位移传感器

Abstract:

Keywords:

基金项目(Foundation): 2016年度河南省科技发展计划项目(16B460013)~~

作者(Author): 宋东亚

DOI: 10.16652/j.issn.1004-373x.2018.18.041

参考文献(References)：

• [1]张晓颖,李德伟,席裕庚,等.六自由度机械臂约束预测控制系统的设计[J].控制理论与应用,2014,31(11):1464-1472.ZHANG Xiaoying,LI Dewei,XI Yugeng,et al.Design of constrained predictive control system for 6 degrees-of-freedom manipulators[J].Control theory&applications,2014,31(11):1464-1472.
• [2]张长勇,王兴财,王立忠,等.安全遮拦收放机械臂控制系统设计与实现[J].机床与液压,2017,45(12):76-81.ZHANG Changyong,WANG Xingcai,WANG Lizhong,et al.Design and realization of control system for secure cordon rod placing and collecting manipulator[J].Machine tool&hydraulics,2017,45(12):76-81.
• [3]徐建明,张健,吴世民,等.基于ARM的机械手运动控制系统设计[J].浙江工业大学学报,2014,42(3):243-248.XU Jianming,ZHANG Jian,WU Shimin,et al.Design of manipulator motion control system based on ARM[J].Journal of Zhejiang University of Technology,2014,42(3):243-248.
• [4]姜秀玲.基于PLC的苹果采摘机械手运动控制系统设计[J].农机化研究,2017,39(11):203-207.JIANG Xiuling.Design of control system for apple picking manipulator based on PLC[J].Journal of agricultural mechanization research,2017,39(11):203-207.
• [5]黄珍,项炎华,李泽,等.路锥自动投收机械手轨迹规划及控制系统设计[J].中国工程机械学报,2017,15(4):283-290.HUANG Zhen,XIANG Yanhua,LI Ze,et al.Trajectory planning and design of control system for road cone automatic retractable manipulator[J].Chinese journal of construction machinery,2017,15(4):283-290.
• [6]陈健,史政,黄伟,等.基于Ether CAT的三次元高速多工位送料机械手控制系统设计与实现[J].机床与液压,2016,44(5):127-130.CHEN Jian,SHI Zheng,HUANG Wei,et al.Design and implementation of three-dimensional high feeding manipulator for multistage transfer control system based on Ether CAT[J].Machine tool&hydraulics,2016,44(5):127-130.
• [7]宋冲,王洪涛,吴聪,等.基于HT32F1765机械臂小车设计[J].机床与液压,2017,45(5):21-26.SONG Chong,WANG Hongtao,WU Cong,et al.Design of mechanical arm moving car based on HT32F1765[J].Machine tool&hydraulics,2017,45(5):21-26.
• [8]冯骁,卢山,侯月阳,等.多臂空间机器人的视觉伺服与协调控制[J].宇航学报,2018,39(2):206-215.FENG Xiao,LU Shan,HOU Yueyang,et al.Visual servoing and coordination control of multi-arm space robot[J].Journal of astronautics,2018,39(2):206-215.
• [9]PHAM C V,WANG Y N.Robust adaptive trajectory tracking sliding mode control based on neural networks for cleaning and detecting robot manipulators[J].Journal of intelligent&robotic systems,2015,79(1):101-114.
• [10]滕举元,许洪斌,王毅,等.采摘机器人机械臂运动轨迹规划设计仿真[J].计算机仿真,2017,34(4):362-367.TENG Juyuan,XU Hongbin,WANG Yi,et al.Design and simulation of motion trajectory planning for manipulator of picking robot[J].Computer simulation,2017,34(4):362-367.