基于fpga的机械臂测控系统研究-控制理论与控制工程专业论文.docxVIP

基于 基于 FPGA 的机械臂测控系统研究 兰州交通大学硕士学位论文 兰州交通大学硕士学位论文 万方数据 万方数据 万方数据 万方数据 Abstract Robot is a multidisciplinary cross areas of technology, it covers the computer technology bionics, organization learning, kinematics, dynamics, electronic technology and automatic control, etc. Robot technology combine the intelligent control algorithm and embedded technology of frontier subjects with related fields such as vision of machine, it is the popular areas of the current world science and technology development, which embody the technology development level of the national science and the comprehensive ability. This paper designs four degrees of freedom manipulator system, on top of that, researching on robot kinematics and trajectory planning. The main works of the thesis are as following: This paper designs overall scheme of the manipulator system, it designs four degrees of freedom manipulator, which of the connecting rod structure using the aluminum alloy profile, and estimates the joint torque based on the quality of each link. Choosing a bigger stepper motor torque which is fixed on the base of the manipulator, choosing the steering gear to realize the movement of other joints including grab institutions of the manipulator. completing the system of data processing and controlling with FPGA(Field Programmable Gate Array), designing a measurement system of manipulator’position at the same time, completing simulation with QuartusⅡ and Modelsim. This paper discusses the mathematical basis of robot kinematics, including the descri- ption of position and gesture of the manipulator, coordinate transformation of the space and homogeneous transformation, robot link coordinate system is established. On top of that, this paper describes the coordinate direction and parameters between the adjacent linkage with D-H(Denavit-Hartenberg)method, the manipulator kinematics equation is set up. According to the actual structure parameters of manipulator, analyzing and solving the forward kine