基于Linux的機(jī)械臂實(shí)時(shí)控制系統(tǒng)研究
2020年信息技術(shù)與網(wǎng)絡(luò)安全第4期
巢惠世,,梁宏斌,蔡土淇
(遼寧科技大學(xué) 機(jī)械工程與自動化學(xué)院,,遼寧 鞍山 114051)
摘要: 針對我國自主研發(fā)的機(jī)械臂控制系統(tǒng)較少,,多依賴于國外價(jià)格昂貴的商用系統(tǒng),,采用在Linux中加入RT補(bǔ)丁的實(shí)時(shí)改造方法,,以六自由度機(jī)械臂為研究對象,,在下位機(jī)上進(jìn)行系統(tǒng)架構(gòu)搭建,實(shí)現(xiàn)一個(gè)包括TCP通信進(jìn)程,、譯碼進(jìn)程,、插補(bǔ)逆解進(jìn)程,、I/O進(jìn)程的一個(gè)多任務(wù)處理的機(jī)械臂控制系統(tǒng),;同時(shí)對機(jī)械臂的上位機(jī)進(jìn)行軟件設(shè)計(jì),實(shí)現(xiàn)人機(jī)界面指令輸入,、狀態(tài)顯示,、通信等功能,為機(jī)械臂的實(shí)時(shí)控制系統(tǒng)提供了一種有效開發(fā)方案,。通過采用RT測試工具集進(jìn)行實(shí)時(shí)性檢驗(yàn),,其結(jié)果滿足實(shí)時(shí)性,同時(shí)利用MATLAB/Robotic Toolbox工具箱建立機(jī)器臂運(yùn)動學(xué)模型,,對機(jī)械臂運(yùn)動空間及軌跡進(jìn)行仿真,,得到了連續(xù)平穩(wěn)的末端曲線,仿真結(jié)果證明了控制系統(tǒng)設(shè)計(jì)的正確性以及可行性,。
中圖分類號:TP241.2
文獻(xiàn)標(biāo)識碼:A
DOI: 10.19358/j.issn.2096-5133.2020.04.015
引用格式:巢惠世,,梁宏斌,蔡土淇.基于Linux的機(jī)械臂實(shí)時(shí)控制系統(tǒng)研究[J].信息技術(shù)與網(wǎng)絡(luò)安全,,2020,39(4):81-85.
文獻(xiàn)標(biāo)識碼:A
DOI: 10.19358/j.issn.2096-5133.2020.04.015
引用格式:巢惠世,,梁宏斌,蔡土淇.基于Linux的機(jī)械臂實(shí)時(shí)控制系統(tǒng)研究[J].信息技術(shù)與網(wǎng)絡(luò)安全,,2020,39(4):81-85.
Research on real-time control system of manipulator based on Linux
Chao Huishi,,Liang Hongbin,Cai Tuqi
(School of Mechanical Engineering and Automation,University of Science and Technology Liaoning,Anshan 114051,China)
Abstract: Aiming at China′s selfdeveloped robotic arm control system,it is mostly dependent on foreign expensive commercial businesses.It adopts a realtime transformation method that adds RT patches to Linux.A sixdegreeoffreedom robotic arm is used as the research object,and the system architecture is built on the lower computer to implement a multitasking robotic arm control system including TCP communication process,decoding process,interpolation inverse solution process,and I / O process.At the same time,software design is performed on the upper computer of the manipulator to realize the input of humanmachine interface instructions.Status display,communication and other functions provide an effective development plan for the realtime control system of the robotic arm.By using the RT test tool set for realtime inspection,the results meet the realtime performance.At the same time,the MATLAB/ Robotic Toolbox is used to establish the kinematic model of the robot arm,and the movement space and trajectory of the robot arm are simulated to obtain a continuous and stable end curve. The simulation results prove the correctness and feasibility of the control system design.
Key words : robotic arm;Linux,;realtime operating system,;realtime transformation;teaching device,;control system
0 引言
21世紀(jì)以來,,我國工業(yè)機(jī)器臂取得了巨大的進(jìn)步,隨著我國傳統(tǒng)制造業(yè)的轉(zhuǎn)型升級,,我國的機(jī)械臂市場的潛力是巨大的,,所以對機(jī)械臂的研究具有重要意義。現(xiàn)在機(jī)械臂常用的操作系統(tǒng)像VxWorks都是商用的操作系統(tǒng),,雖然實(shí)時(shí)性好,,但是價(jià)格昂貴,而價(jià)格低廉,、開源且可裁剪的Linux則非常適合機(jī)械臂系統(tǒng)的自主開發(fā),。由于標(biāo)準(zhǔn)的Linux操作系統(tǒng)不具備實(shí)時(shí)性,,需要對其進(jìn)行實(shí)時(shí)性改造。
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作者信息:
巢惠世,,梁宏斌,,蔡土淇
(遼寧科技大學(xué) 機(jī)械工程與自動化學(xué)院,遼寧 鞍山 114051)
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