機(jī)械手外文翻譯--機(jī)械手的遠(yuǎn)程控制系統(tǒng)

1、<p>　　本科畢業(yè)設(shè)計(jì)(論文)</p><p>　　外文翻譯（附外文原文）</p><p>　　學(xué) 院： 機(jī)械與控制工程學(xué)院 </p><p>　　課題名稱： 搬運(yùn)機(jī)械手的結(jié)構(gòu)和液壓系統(tǒng)設(shè)計(jì) </p><p>　　專業(yè)(方向)： 機(jī)械設(shè)計(jì)制造及其自動(dòng)化（機(jī)械裝備）</p>

2、<p>　　班 級(jí)： </p><p>　　學(xué) 生： </p><p>　　指導(dǎo)教師： </p><p>　　日 期： 2015年3月10日 &

3、lt;/p><p>　　Proceedings of the 33rd Chinese Control Conference</p><p>　　July 28-30, 2014, Nanjing, China</p><p>　　The Remote Control System of the Manipulator</p><p>　　SUN

4、 Hua, ZHANG Yan, XUE Jingjing , WU Zongkai</p><p>　　College of Automation, Harbin Engineering University, Harbin 15000</p><p>　　E-mail: sunhuas@hrbeu.edu.cn</p><p>　　Abstract: A rem

5、ote 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 ki

6、nematic 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 mani

7、pulator. The servos of the manipulator were c</p><p>　　Key Words: The manipulator; Remote control; Denavit-Hartenberg; FPGA; Human-computer interaction</p><p>　　1 Introduction</p><p&g

8、t;　　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

9、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.</p><p&g

10、t;　　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 mani

11、pulator 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 cen

12、tral control option was built via an embedded Nios II program an</p><p>　　MATLAB software was adopted to build the kinematic models of manipulator. And using D-H (the acronym of Denavit-Hartenberg) method to

13、 solve the forward and inverse kinematic equations of the manipulator, to analyze the motivation, to plan and track the motion’s path. </p><p>　　In addition, a good interface of human-computer interaction wa

14、s 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 a

15、nd easily, also greatly saved time and cut the cost.</p><p>　　2 Manipulator Model and Path Planning</p><p>　　At first, the motion model of the manipulator was built. Then, the kinematic simulati

16、on and its path planning were researched. These works provided the foundation for the design of the remote control system of the manipulator.</p><p>　　2.1 Motion Model of the Manipulator</p><p>

17、　　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

18、 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 paramete

19、r table shown as Table 1 was established by using the frames i</p><p>　　Fig.1 Coordinate frames of mechanical arm</p><p>　　Table 1 D-H Parameters of the Robot Arm</p><p>　　Due to D-

20、H method:</p><p>　　Where , , , S . The transformation matrix of every joint was given by equation (2).</p><p><b>　　(2)</b></p><p>　　Where unit vector in equation (2)

21、was , , , . Parameters of mechanical arm were given by ,, ,. Therefore the forward kinematic</p><p>　　equation was determined by taking every parameter in equation (3).</p><p><b>　　(3)<

22、/b></p><p>　　In 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 analysi

23、s 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 (th

24、is method also known as algebraic method).Using inverse transformation separately to the </p><p>　　2.2 Motion Simulation of the Manipulator</p><p>　　The manipulator model was built and simulated

25、 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</p><p>　　Fig.2 MATLAB simulation of the manipulator</p&

26、gt;<p>　　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 p

27、roved by the determined inverse kinematic equations via MATLAB shown in the table (2) and table (3).</p><p>　　The target position was solved by forward kinematics. After that, the rotary angles were calculat

28、ed 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.</p><p>

29、;　　Table (2) Forward Kinematics Analyze</p><p>　　Table (3) Inverse Kinematics Analyze</p><p>　　3 Path Planning of the Manipulator</p><p>　　The total displacement of joint was calcul

30、ated 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 mo

31、tion 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, th

32、e motion path was </p><p>　　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 manipulator’s movement.

33、 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 o

34、f the manipulator was shown in Fig.3 (Where‘?’ represented the points would be passed by the manipula</p><p>　　Fig.3 The path planning simulation of the manipulator</p><p>　　4 Remote Control Sy

35、stem of the Manipulator</p><p>　　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 controlle

36、d by multipath PWM waves. And the PWM waves were generated by IP core. The FPGA controller</p><p>　　Communicated with PC via wireless serial port. While in the PC interaction, the operator could observe the

37、 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 re

38、mote control system was shown in Fig.4.</p><p>　　Fig.4 The block diagram of the remote control system</p><p>　　4.1 Control Mode of the Manipulator</p><p>　　There were two control mo

39、des 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 t

40、his 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 runn

41、ing time of FPGA. Resources of FPGA</p><p>　　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 d

42、etermined 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

43、could finish other works under this mode. But the manipulator was not under fast control in this mode.</p><p>　　In this system, a new mode was adopted in the manipulator remote control system depending on th

44、e 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 moti

45、ons 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 bu</p><p>　　4.2 SOPC Des

46、ign for the Remote Control System </p><p>　　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.

47、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

48、angles of the servos via the servo drivers.</p><p>　　Fig.5 The PWM IP core</p><p>　　Multiple of IP cores were able to be downloaded into FPGA. And multiple PWM waves with high precision were gen

49、erated 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.</p><p&g

50、t;　　Fig.6 The IP cores generating PWM wave</p><p>　　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

51、 ratio of PWM waves. The duty ratio of PWM waves corresponded to the Nios II output.</p><p>　　Wireless serial of 9600 baud rate was used to transmit the coordinate and the angle information from host compute

52、r 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

53、 adding UVRT communication protocol to FPGA.</p><p>　　4.3 The Interactive Interface of the Remote Control System</p><p>　　The interactive interface of the remote control system was shown in Fig.

54、7. There were some functions in the interactive interface: video observation, the manipulator control and the simulation modeling.</p><p>　　At first, the manipulator video could be seen from camera to intera

55、ctive interface. The operator could monitor the manipulator in real-time. </p><p>　　Secondly, the angle and the coordinate could be set in control zone of the interactive interface. The angle of the manipula

56、tor 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 s

57、etting 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 </p><p>　　Lastly, the MATLAB robot toolbox was emb

58、edded 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 gr

59、oup 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 multi

60、ple simulation metho</p><p>　　Fig.7 The interactive interface of the manipulator</p><p>　　5 Experiment and Simulation</p><p>　　In order to verify properties of the remote control s

61、ystem 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

62、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

63、 shown </p><p>　　Fig.8 The experiment and the simulation</p><p>　　6 Conclusion</p><p>　　In the experiment, the 5-DOF manipulator modeling was simulated by MATLAB. In the slave FPGA

64、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 wit

65、hout 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 </p><p>　　References

66、</p><p>　　[1] Saeed B. Niku write, Sun Fuchun, Zhu Jihong, Liu Guodong</p><p>　　etc translate: Robotics Introduction, Beijing, Electronic</p><p>　　Industry Press, 2004(1):60-63,132-

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71、lti-channel</p><p>　　Servo Control Design based on FPGA, Small and special</p><p>　　electrical machine. 2011, 39(4)</p><p>　　第33屆中國(guó)控制會(huì)議論文集</p><p>　　中國(guó)，南京，2014年28-30日<

72、;/p><p>　　機(jī)械手的遠(yuǎn)程控制系統(tǒng)</p><p>　　孫華、張媛、薛晶晶、吳宗凱</p><p>　　哈爾濱工程大學(xué)，哈爾濱15000學(xué)院，自動(dòng)化專業(yè)</p><p>　　電子油箱：sunhuas@hrbeu.edu.cn</p><p>　　摘要：一種5自由度機(jī)械手的遠(yuǎn)程控制系統(tǒng)的設(shè)計(jì)。這種機(jī)械手被安裝到我們的移

73、動(dòng)機(jī)器人構(gòu)成遠(yuǎn)程救援機(jī)器人。這種Denavit-Hartenberg方法被用于建立運(yùn)動(dòng)學(xué)模型和機(jī)械手操作的路徑規(guī)劃的研究。操作者可以通過(guò)個(gè)人電腦來(lái)顯示移動(dòng)圖像和操縱器的各種數(shù)據(jù)的交互式界面遠(yuǎn)程控制機(jī)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(wú)線通信模塊的個(gè)人計(jì)算機(jī)進(jìn)行通信。由于嵌入的Nios II程序和IP（知識(shí)產(chǎn)權(quán)）核生成PWM波，該系統(tǒng)可以控制多個(gè)伺服的快速性和靈活性。為了實(shí)現(xiàn)實(shí)時(shí)操作和仿

74、真，人機(jī)交互界面，建立了VC和MATLAB的混合編程。</p><p>　　關(guān)鍵詞：機(jī)械手、遠(yuǎn)程控制;、Denavit-Hartenberg;、FPGA、人機(jī)交互</p><p><b>　　1.緒論</b></p><p>　　隨著微電子技術(shù)的發(fā)展和計(jì)算機(jī)技術(shù)，機(jī)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(jī)械手常適用于完成乏味的

75、、繁重的和反復(fù)的體力勞動(dòng)，特別是用于替代在危險(xiǎn)和有害環(huán)境的手動(dòng)操作，例如腐蝕和高溫。</p><p>　　在本文中，機(jī)械手安裝在我們移動(dòng)機(jī)器人上。這種機(jī)器手的遠(yuǎn)程操作系統(tǒng)的設(shè)計(jì)。整個(gè)系統(tǒng)由個(gè)人電腦和從屬的FPGA構(gòu)成。操作者可以通過(guò)個(gè)人電腦遠(yuǎn)程控制該機(jī)器人。無(wú)線通信被用于發(fā)送個(gè)人電腦和FPGA之間的數(shù)據(jù)。 FPGA是在移動(dòng)機(jī)器人上機(jī)械手的控制器。 FPGA具有豐富的內(nèi)部資源和IP內(nèi)核。和一個(gè)中央控制選項(xiàng)，通過(guò)內(nèi)嵌

76、的Nios II程序和IP核心FPGA.建立，Verilog語(yǔ)言采用設(shè)計(jì)出生成的數(shù)字PWM波來(lái)控制機(jī)械手的IP核。因此，該系統(tǒng)可以達(dá)到較高的精度，易于調(diào)試。</p><p>　　MATLAB軟件采用建立機(jī)械手的運(yùn)動(dòng)模型，并使用DH（Denavit-Hartenberg的縮寫(xiě)）的方法來(lái)解決前進(jìn)和操縱逆運(yùn)動(dòng)學(xué)方程，分析動(dòng)機(jī)，計(jì)劃和跟蹤運(yùn)動(dòng)路徑。</p><p>　　此外，人機(jī)交互的良好的界面增

77、強(qiáng)在PC上的機(jī)械手的遠(yuǎn)程控制系統(tǒng)。而且，機(jī)器人仿真技術(shù)是通過(guò)使用VC和MATLAB的混合編程建成。因此，運(yùn)動(dòng)編排變得快速，方便，也大大節(jié)省了時(shí)間，降低了成本。</p><p>　　2 機(jī)械手的模型和路徑的規(guī)劃</p><p>　　首先，建立機(jī)械手的運(yùn)動(dòng)模型。然后，研究它的運(yùn)動(dòng)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(jì)。</p><p>　　2.1

78、機(jī)械手的運(yùn)動(dòng)模型</p><p>　　機(jī)械手就被視為開(kāi)環(huán)運(yùn)動(dòng)鏈。它由五個(gè)旋轉(zhuǎn)接頭構(gòu)成。其一端被固定在一個(gè)基座上，同時(shí)另一端被用來(lái)實(shí)現(xiàn)斂的能力。因此，最好是建立一個(gè)鏈坐標(biāo)幀，如圖1所示。該終端的位置和姿態(tài)是通過(guò)使用正向運(yùn)動(dòng)學(xué)方程知道每個(gè)關(guān)節(jié)的旋轉(zhuǎn)角度后確定。如1所示的DH參數(shù)表，建立了使用框架如圖1所示。</p><p><b>　　圖1坐標(biāo)機(jī)械手的幀</b></

79、p><p>　　表1機(jī)器人手的D-h參數(shù)值</p><p><b>　　由D-H方法得：</b></p><p>　　當(dāng) , , , S，每個(gè)關(guān)節(jié)的變換矩陣是由方程（2）給出。</p><p><b>　　(2)</b></p><p>　　當(dāng)單位矢量在方程（2）為, , ,

80、 ，機(jī)械手臂參數(shù)被賦予，，，</p><p>　　因此，正向運(yùn)動(dòng)方程通過(guò)取在公式（3）每一個(gè)參數(shù)來(lái)確定。</p><p><b>　　(3)</b></p><p>　　在實(shí)際應(yīng)用中，機(jī)械手要求能抓住物體。這要求不斷該修正位置給出終端給目標(biāo)位置。這是機(jī)械手的逆運(yùn)動(dòng)學(xué)分析。逆變換被用來(lái)確定朝著既定的坐標(biāo)的每個(gè)旋轉(zhuǎn)接頭的角，并且逆變換的使用的方法是

81、為了解決這樣的問(wèn)題（該方法也被稱為代數(shù)方法）的常用方法。使用逆變換分別向左側(cè)乘以，每個(gè)旋轉(zhuǎn)接頭的角被確定，通過(guò)這些結(jié)果，旋轉(zhuǎn)角度在機(jī)械手的末端位置被完全的目標(biāo)位置決定，角θ4被用于改變機(jī)械手的終端的姿態(tài)，并改變由已知的法線向量。然而，傾斜的θ5，由目標(biāo)對(duì)象的大小來(lái)決定。</p><p>　　2.2 機(jī)械手的運(yùn)動(dòng)仿真</p><p>　　建立機(jī)械手模型，并通過(guò)MATLAB仿真工具箱。我們可以

82、驗(yàn)證的數(shù)學(xué)模型的合理性。同時(shí)MATLAB模型建立了表1和如圖2所示</p><p>　　圖2 MATLAB仿真機(jī)械手</p><p>　　比較于圖1和2所示，機(jī)械手的仿真模型與參照幀的模型相吻合。這是說(shuō)，在給定的坐標(biāo)系是正確的。這些結(jié)果還可以通過(guò)經(jīng)由MATLAB所確定的逆運(yùn)動(dòng)學(xué)方程表中的（2）和表（3）所示來(lái)證明。</p><p>　　表（2）正向運(yùn)動(dòng)學(xué)分析<

83、/p><p>　　表（3）反向運(yùn)動(dòng)學(xué)分析</p><p>　　目標(biāo)位置由正向運(yùn)動(dòng)學(xué)解決。在此之后，在旋轉(zhuǎn)角度的計(jì)算采用逆運(yùn)動(dòng)學(xué)方程。事實(shí)證明，這些旋轉(zhuǎn)角度正好給定的角度。因此，這些結(jié)果驗(yàn)證了正向和反向運(yùn)動(dòng)的正確性。</p><p>　　3. 機(jī)械手的路徑規(guī)劃</p><p>　　聯(lián)合的總量進(jìn)行了計(jì)算和反向運(yùn)動(dòng)學(xué)方程當(dāng)機(jī)器人移動(dòng)到新的位置。因此，機(jī)

84、械手可以移動(dòng)到新的位置，但是機(jī)械手最后移動(dòng)到預(yù)期位置在這樣的條件下，這兩個(gè)點(diǎn)之間的機(jī)械手的運(yùn)動(dòng)是未知的。由于篇幅的限制，運(yùn)動(dòng)和一定的位置要求，機(jī)械手往往無(wú)法移動(dòng)的上述方法。因此，該運(yùn)動(dòng)路徑被設(shè)計(jì)為在有限的條件下重合。</p><p>　　在本文中，我們可以利用這些一定的局限性來(lái)決定了一些預(yù)期的點(diǎn)。這些預(yù)期的點(diǎn)被用于匹配操作者的運(yùn)動(dòng)的規(guī)劃路徑。由于規(guī)劃路徑，在每一個(gè)部分的坐標(biāo)可以被計(jì)算出來(lái)。每個(gè)關(guān)節(jié)的旋轉(zhuǎn)角度是通過(guò)

85、逆運(yùn)動(dòng)學(xué)方程計(jì)算和這些角度實(shí)現(xiàn)規(guī)劃路徑的運(yùn)動(dòng)。機(jī)械手的運(yùn)動(dòng)是如圖3所示（其中'o'代表的點(diǎn)由機(jī)械手傳遞;'*'代表每一段的預(yù)期點(diǎn);'-'代表機(jī)械手的路徑規(guī)劃）。在圖3中，我們可以看到，手的動(dòng)作通過(guò)每一個(gè)規(guī)劃點(diǎn)和移動(dòng)路徑相吻合的規(guī)劃路徑。</p><p>　　圖3路徑規(guī)劃仿真機(jī)械手</p><p>　　4 機(jī)械手的遠(yuǎn)程控制系統(tǒng)</p&g

86、t;<p>　　機(jī)械手的遠(yuǎn)程控制系統(tǒng)包含有主機(jī)PC和使用ALTER公司董事會(huì)DE2從屬的FPGA控制器。操縱器的馬達(dá)是由多路徑的PWM波控制。并且PWM波是由IP內(nèi)核生成的。該FPGA控制器通過(guò)無(wú)線串口通訊PC。而在PC的交互中，操作者可觀察到的操縱器的實(shí)時(shí)和移動(dòng)遠(yuǎn)程控制的操縱器的運(yùn)動(dòng)。同時(shí)機(jī)械手的每一個(gè)動(dòng)作可以事先通過(guò)模擬技術(shù)進(jìn)行觀察。機(jī)械手遠(yuǎn)程控制系統(tǒng)的總體設(shè)計(jì)</p><p>　　圖4的遠(yuǎn)程控

87、制系統(tǒng)的框圖</p><p>　　4.1 機(jī)械手的控制模式</p><p>　　有兩種控制模式的控制器。一種模式是，逆運(yùn)動(dòng)學(xué)方程計(jì)算由FPGA直線，以確定每一個(gè)旋轉(zhuǎn)接頭的角度。因此，機(jī)械手的控制能實(shí)現(xiàn)。這種模式的優(yōu)點(diǎn)是更直接和獨(dú)立完成的操縱器的控制，而無(wú)需外部設(shè)備。與此同時(shí)，這種模式有大量的計(jì)算，其占據(jù)更多的內(nèi)部存儲(chǔ)和FPGA的運(yùn)行時(shí)間。 FPGA的資源在此模式下浪費(fèi)。</p>

88、<p>　　另一種模式通過(guò)PC使用的VC和MATLAB實(shí)現(xiàn)了機(jī)械手的控制。用VC和MATLAB完成了大量復(fù)雜的計(jì)算，每個(gè)旋轉(zhuǎn)接頭的決心角度。角度的結(jié)果傳送到FPGA中以實(shí)現(xiàn)機(jī)械手的控制。這種方式節(jié)約了大量的內(nèi)部存儲(chǔ)和運(yùn)行時(shí)間。此外，F(xiàn)PGA可以在此模式下完成其他工作。但機(jī)械手不是在該模式下快速控制。</p><p>　　在這個(gè)系統(tǒng)中，在機(jī)械手遠(yuǎn)程控制系統(tǒng)中，一種依賴于兩種模式的優(yōu)點(diǎn)的新模式被采用。具

89、體地，當(dāng)機(jī)械手完成的指定和反復(fù)運(yùn)動(dòng)，前者模式通過(guò)從屬的FPGA控制器實(shí)現(xiàn)控制。當(dāng)機(jī)械手想要實(shí)現(xiàn)新的提案 ，后一種模式被訂單者從個(gè)人PC指揮。這種新模式是取得了良好的使用在以上兩種模式的優(yōu)點(diǎn)。這種新的模式減輕了計(jì)算負(fù)擔(dān)，提高了機(jī)械手的工作效率。</p><p>　　4.2 SOPC設(shè)計(jì)的遠(yuǎn)程控制系統(tǒng)</p><p>　　機(jī)械手的運(yùn)動(dòng)是通過(guò)伺服控制的，而伺服機(jī)構(gòu)是由PWM波以20毫秒的周期來(lái)控

90、制。這些PWM波的脈沖寬度是0.5?2.5ms，對(duì)應(yīng)伺服的旋轉(zhuǎn)角度-90度到90度。由通過(guò)的Verilog IP核在本系統(tǒng)中生成PWM波的高精度。該結(jié)果示于圖5。 PWM波通過(guò)伺服驅(qū)動(dòng)器控制伺服電機(jī)的旋轉(zhuǎn)角度。</p><p>　　圖5的PWM IP核</p><p>　　IP核的多個(gè)能夠被下載到FPGA。并以高精度多路PWM波在輸出生成。如圖6所示，這些波的脈沖寬度將由Nios II的方

91、案來(lái)解決。操縱器的運(yùn)動(dòng)是更靈活的，并且在該系統(tǒng)中更高的精度。</p><p>　　圖6的IP內(nèi)核生成PWM波</p><p>　　機(jī)械手的運(yùn)動(dòng)是由PWM波的占空比來(lái)實(shí)現(xiàn)。式（4）倒轉(zhuǎn)角至PWM波的占空比的相應(yīng)量。這種PWM波的占空比對(duì)應(yīng)于Nios II的輸出。</p><p>　　9600波特率無(wú)線串行被用來(lái)傳送坐標(biāo)，并從主計(jì)算機(jī)的角度信息的FPGA。在這之后，數(shù)據(jù)

92、和命令由FPGA進(jìn)行分析。然后FPGA發(fā)送的運(yùn)動(dòng)的結(jié)果到主計(jì)算機(jī)的交互式接口經(jīng)由無(wú)線過(guò)渡模式。這種通信是通過(guò)增加UART通信協(xié)議FPGA實(shí)現(xiàn)。</p><p>　　4.3遠(yuǎn)程控制系統(tǒng)的交互界面</p><p>　　遠(yuǎn)程控制系統(tǒng)的人機(jī)交互界面示于圖7。還有，在人機(jī)交互界面的一些功能：視頻觀察，操縱控制與仿真建模。</p><p>　　首先，機(jī)械手的視頻可以從相機(jī)傳到人

93、機(jī)交互界面看到。操作人員可以監(jiān)測(cè)實(shí)時(shí)操縱。</p><p>　　其次，角度和坐標(biāo)可以在交互界面的控制區(qū)進(jìn)行設(shè)置。機(jī)械手的角度可以被獨(dú)立地設(shè)置到每個(gè)單關(guān)節(jié)。另外，該角度設(shè)定可顯示在實(shí)時(shí)交互界面的列表（如圖7所示）。在該組坐標(biāo)，判斷坐標(biāo)設(shè)定保證，總坐標(biāo)能夠達(dá)到目標(biāo)點(diǎn)。因此，機(jī)械手可以被控制以在結(jié)算路徑移動(dòng)取決于所述角度信息。</p><p>　　最后，MATLAB機(jī)器人工具箱被嵌入到這個(gè)互動(dòng)界

94、面。一個(gè)接口被集成在控制和模擬操盤。 MATLAB機(jī)器人工具箱是直接使用在機(jī)器人造型的人機(jī)交互界面。每個(gè)組的信息是為了檢測(cè)各個(gè)動(dòng)作是否是正確的單獨(dú)的模擬。和一般的模擬可以測(cè)試機(jī)器人的運(yùn)動(dòng)安排是否合理。結(jié)合多種模擬方法所做的運(yùn)動(dòng)安排更加靈活，在操縱簡(jiǎn)單，界面交互的操作更加完美。</p><p>　　圖7操縱的人機(jī)交互界面</p><p><b>　　5．實(shí)驗(yàn)與仿真</b>

95、;</p><p>　　為了驗(yàn)證操作者的遠(yuǎn)程控制系統(tǒng)的性能，該系統(tǒng)的實(shí)驗(yàn)正在進(jìn)行，并進(jìn)行比較，以模擬系統(tǒng)。具體地，機(jī)械手的建模由交互式接口內(nèi)置和一組坐標(biāo)可以設(shè)計(jì)。這些坐標(biāo)被傳輸?shù)紽PGA，從而控制舵機(jī)來(lái)完成機(jī)器人的運(yùn)動(dòng)。關(guān)節(jié)角度，末端坐標(biāo)通過(guò)接口的視頻拍攝。</p><p><b>　　圖8實(shí)驗(yàn)和仿真</b></p><p><b>

96、　　6．總結(jié)</b></p><p>　　在實(shí)驗(yàn)中，將5自由度機(jī)械手模型利用MATLAB模擬。利用MATLAB。在從屬FPGA板，機(jī)械手的控制是基于Verilog語(yǔ)言經(jīng)由IP核來(lái)完成的。這大大降低了外圍電路的設(shè)計(jì)，降低成本，提高了精確度和取得的運(yùn)動(dòng)更平滑無(wú)晃動(dòng)。而在人機(jī)交互界面，VC和MATLAB的混合編程方法嵌入到MATLAB仿真功能</p><p>　　因此，這個(gè)操縱器的可

97、靠性得到加強(qiáng)。該系統(tǒng)具有人機(jī)交互界面的良好能力。整個(gè)系統(tǒng)進(jìn)行了驗(yàn)證，并取得所預(yù)期的效果。在這個(gè)系統(tǒng)中的一個(gè)新的東西體現(xiàn)在人機(jī)交互界面的MATLAB機(jī)器人工具箱上，對(duì)于D-H模型，路徑規(guī)劃和遠(yuǎn)程操作等方面進(jìn)行了直接使用這個(gè)交互界面完成。相比于其他的開(kāi)發(fā)工具，這個(gè)互動(dòng)接口的便攜性，良好的兼容性，開(kāi)發(fā)周期短，操作簡(jiǎn)單。</p><p><b>　　參考文獻(xiàn)</b></p><p

98、>　　[1] SaeeB ，Niku.機(jī)器人介紹[M].孫富春,朱繼宏,劉成國(guó)棟翻譯.北京:電子工業(yè)出版社,2004(1):60 - 63132 - 137。</p><p>　　[2] Brady,M.J.M.Hollerbach,T.L Johnson.,T.Lozano-Perez和M.T.Mason M.T.機(jī)器人運(yùn)動(dòng)、計(jì)劃和控制[M].美國(guó)：麻省理工學(xué)院(劍橋)出版,1982年。</p>

99、;<p>　　[3] Paul Richard P.機(jī)器人機(jī)械手、數(shù)學(xué)、編程和控制[M].美國(guó)：麻省理工學(xué)院出版社，1981年。</p><p>　　[4]李健.多自由度機(jī)器人的設(shè)計(jì)和研究[D].合肥：中國(guó)科學(xué)技術(shù)大學(xué), 2009.6。</p><p>　　[5]程立艷，費(fèi)凌，蘇澤郎.基于MATLAB五自由度機(jī)械手運(yùn)動(dòng)學(xué)仿真分析[D].成都：西華大學(xué)機(jī)械工程及自動(dòng)化學(xué)院,20