六自由度机械臂分布式控制系统的设计与研究电力电子与电力传动专业论文.docx

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - Abstract With the development of technology and society, the application of robots has become more and more popular in various areas, such as industrial production and manufacture, daily life, education and entertainment. Manipulator is the most important implementing mechanism of robot, which is a time-variable, strong coupling and nonlinear system. As a result, the design of the manipulator control system is of great significance in both project and theory. In this paper, a scheme of distributed controllers based on RS-485 bus is proposed to design the control system of the 6 degree-of-freedom manipulator in the National 863 Project of the Humanoid Robots Technique and System. In the distributed system, a PC computer is used as the central computer for monitoring, and the motion control of every motor is accomplished by an independent joint controller based on DSP. A set of communication protocol is designed for the distributed system. The kinetic equation of the manipulator is deduced using the Denavit-Hartenberg method and the inverse kinetic solutions are also obtained. In addition, the trajectory planning arithmetic of the manipulator is designed in both joint space and the orthogonal coordinate space. Position and velocity control are realized in DSP. Finally, some experiments are carried out to evaluate the design of the distributed control system. Experiment results show that the kinetic equation and trajectory planning arithmetic of the manipulator are correct and effective. Motors can be controlled real-time to follow the trajectory precisely by the distributed system based on RS-485 bus. The distributed control system designed in the paper has satisfied the requirements. Keywords arms control; computer control; decentralized control; PID control - - PAGE IV - 目 录 摘要I Abstract II 第 1 章 绪论 1 1.1 研究目的和意义 1 1.2 研究及发展现状 1 1.3 主要研究内容 7 第 2 章 六自由度机械臂的建模 8 2.1 正运动学模型的建立 8 2.1.1 机械臂构型分析 8 2.1.2 运动学参数的确定 9 2.1.3 正运