机械手外文翻译

本科毕业设计(论文)

外文翻译（附外文原文）

学院：机械与控制工程学院

课题名称：搬运机械手的结构和液压系统设计

专业(方向)：机械设计制造及其自动化（机械装备）班级：

学生：

指导教师：

日期： 2015年3月10日

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 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