三关节机械臂设计.doc

三关节机械臂及其控制系统设计
摘要
随着科技的不断进步,机械臂特别是仿人型机械臂的发展非常迅速。其在人们的日常生活,生产中开始扮演着不可或缺的角色。本文呈现的是一种仿人型机械臂,其主要特点在与多样化,简单化,直觉化的人机交互方式。将以往复杂的主从式操作,诸如摇杆控制等,转化为简单的触摸屏操作,同时辅佐以双目机器视觉,还可以实现通过人的手势来控制机械臂动作,实现了直觉化的控制。
为了能高效稳定地控制机械臂,本设计使用了双控制系统协同作业:下位控制系统使用嵌入式系统—ARM 微处理器(S3C2440 芯片)—实现机械臂的基本动作的控制封装,包括定位算法以及运动控制等;上位控制系统是在PC 上实现的,控制软件使用VC++ 编写,主要实现机器视觉的相关运算,并将运算结果通过串口通信,传递给下位系统—ARM 微处理器,并最终转换成机械臂的动作。
整个设计过程包含了底层的驱动硬件设计:舵机的选型与控制;机械结构设计:结构设计,负载校核;控制系统电路设计;上位,下位软件的编写:舵机的控制方式—PWM 脉宽调制,点定位算法,轨迹控制算法,机器视觉算法;还编写了3 维软件进行仿真:三维的投影算法,及贴面,光照,面的排序算法;并最终制作成实物进行演示,在末端装上笔之后,能够进行简单的书写。
关键字:触摸屏机器视觉嵌入式系统运动控制
Three joint mechanical arm and its control system design
Abstract
As technology advances, mechanical arm especially humanoid type of mechanical arm is developing fast. This paper presents a humanoid type of mechanical main characteristics is multiple ,simple, intuitive man-machine interactive screen control and machine version are introduced covering plex operation ,such as joystick control. Mechanical arm is control by daily gestures which makes it much easier to use a mechanical arm.
In order to control the mechanical arm stabily, this design uses the dual control system under coordinated assignments: one control system uses embedded system – ARM microprocessor (S3C2440 chip) - realizing the basic mechanical arm movement control encapsulation, including localization algorithm and motion control, etc.;Upper control system is on the PC platform, using vc + + for software, realizing machine vision calculation, and will transmit results through munication, to lower level system -the ARM microprocessor, leading to mechanical arm movements
The whole design process contains rock-bottom drive hardware design: steering gear selection and control; Mechanical structure design structure design, load checking; Control system circuit design; Superior position software: steering gear -- PWM pulse width modulation, point positioning algorithm, trajectory control algorithm, machine vision al