机械手的远程控制系统-外文翻译

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1、Proceedingsofthe33rdChineseControlConferenceJuly28-30,2014,Nanjing,ChinaTheRemoteControlSystemoftheManipulatorSUNHua,ZHANGYan,XUEJingjing,WUZongkaiCollegeofAutomation,HarbinEngineeringUniversity,Harbin15000E-mail:sunhuas@hrbeu.edu.cnAbstract:Aremotecontrolsystemofthe5degreeoffreedom

2、manipulatorwasdesigned.Thismanipulatorwasinstalledintoourmobilerobottoconstitutearemoterescuerobot.TheDenavit-Hartenbergmethodwasusedtoestablishthekinematicmodelsandthepathplanningofthemanipulatorwasresearched.TheoperatorcouldremotecontrolthemanipulatorbytheinteractiveinterfaceofPCw

3、hichcoulddisplaymovingpictureandvariousdataofthemanipulator.TheservosofthemanipulatorwerecontrolledbytheslaveFPGAcontroller.Inaddition,theslaveFPGAcontrollercommunicatedwiththePCviathewirelesscommunicationmodule.OwingtotheembeddedNiosIIprogramandIP(IntellectualProperty)coregeneratin

4、gPWMwavesinFPGA,thesystemcouldcontrolthemultipleservosfastandflexible.Inordertoachievereal-timeoperationandsimulation,theinteractiveinterfacewasestablishedbythemixedprogrammingofVCandMATLAB.KeyWords:Themanipulator;Remotecontrol;Denavit-Hartenberg;FPGA;Human-computerinteraction1Intro

5、ductionWiththedevelopmentofthemicroelectronictechniqueandthecomputertechnology,themanipulatorhasbecomeessentialequipmentinthemanufacturingindustry.Asweallknown,themanipulatorisusuallyappliedtoaccomplishdull,onerousandrepeatedphysicalwork,especiallyusedtosubstitutethemanualoperationu

6、nderthedangerousandthehazardousenvironmentsuchasthecorrosionandthehightemperature.Inthispaper,themanipulatorwasinstalledourmobilerobot.Thetele-operationsystemofthismanipulatorwasdesigned.ThewholesystemisonstitutedbyPCandslaveFPGA.TheoperatorcanremotecontrolthemanipulatorbyPC.Thewire

7、lesscommunicationwasusedfortransmittingdatabetweenPCandFPGA.FPGAiscontrollerofthethemanipulatorinthemobilerobot.FPGAhastheabundantinternalresourceandIPcores.AndacentralcontroloptionwasbuiltviaanembeddedNiosIIprogramandanIPcoreinFPGA.Furthermore,VeriloglanguagewasadoptedtodesigntheIP

8、corewhichgeneratedd