机械臂系统的网络远程控制研究与实现

《机械臂系统的网络远程控制研究与实现》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、摘要控制方式引入串联机械臂远程控制系统，通过对任务时序图的分析，给出了保证机械臂连续运动时系统参数需满足的条件，并实现了远程控制下连续的轨迹跟踪。关键词：网络远程控制，延时补偿，时间驱动，事件驱动，确定性控制，机械臂系统，连续轨迹控制尘望登堂垫查盔兰竖主兰垒堡兰AbstractNetwork-basedremotecontrolisamultidisciplinaryfiledwhichinvolvescomputing,communicationandcontr01．Althoughsuchatechnology

2、hasbeenwidelyappliedinvariousare越．theuncertainnetwork-introduceddelayremainsasanuisance，whichGasdeterioratetheperformanceofcontrolsystemsandevondestabilizethesystems．Inthisthesis,westudiedthetimedelayanditscompcnsa矗onstrategyfrombothflspcctsoftheoryandpractice

3、．Ourmainworkisasfollowing：Firstly，inthenetworkedcontrolsystemwithasimple-packetandsimple-looptransmissionandwithoutdatapacketdropout，thegeneralformulasofsystemmodelarededucedfordifferentcases，inwhichthesensoradoptstime-drivenmode，withthecontrollerandtheactuato

4、rusingeithertime-drivenorevent-drivenmode．Theeffectsofdifferentdrivenmodesfornetworknodesonthesystemperformancearcanalyzedandcompared．Theissueabouthowtosslcctsuitabledrivenmodesfornodesisdiscussedwithregardtodifferentsystemrequirementsanddelayranges．Thesimulat

5、ionexperimentsarecarriedouttoconfn'mthetheoreticalanalysis．Secondly，thedeterministiccontrolfornetworkedcontrolsystemisstudied,inwhichareceivingbufferisintroducedtochangethetime-varyingdelayintoafixedvalue．Threemainmethodsofthedeterministiccontrol，includingstat

6、epredictivecontrol，stagedtransformationcontrolandSmithpredictivecontrol，agecompared．Therelationshipsamongthethreemethodsarediscussedthrou【ghstatetransitionandasimulationexampleispresentedtOprovethetheoreticalresults．Thirdly,acontrolledobject，namelya2-dofserial

7、robotannsystemwiththedrawingcapacity，isdesqribed，includingitshardwareenvironment,softwarestructureandworkprinciple．Alocalcontrolschemeisproposedtoimproveprecisionandspeedofactualmotion．Witharemotecontrollerandalocalcomputerconnectedwiththerobotarnlsystemassign

8、edtoactastheclientandtheserver,respectively,andusingtheC-SmodewithWinsockAPI，softwarebottomcontrolandUDPconnection,anetwork-basedrobotarmremotecontrolsystemplatformisbuilttostudyth