發(fā)布時(shí)間：2018-01-12 01:15

  本文關(guān)鍵詞：多自由度靈巧手控制系統(tǒng)的設(shè)計(jì)與研究　出處：《中北大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 多自由度靈巧手 控制系統(tǒng) FPGA 阻抗控制

【摘要】：多自由度靈巧手是機(jī)器人的末端執(zhí)行器之一,其靈活性和可控制性是自動(dòng)化水平的重要體現(xiàn),極大的影響了機(jī)器人的智能化水平。因此,多自由度靈巧手控制系統(tǒng)的設(shè)計(jì)和控制方法的研究,已成為機(jī)器人擬人化研究面臨的緊迫任務(wù)。本文研究并總結(jié)了國(guó)內(nèi)外靈巧手控制系統(tǒng),設(shè)計(jì)了一種使用分層控制方法的多自由度靈巧手控制系統(tǒng),采用基于位置的阻抗控制策略實(shí)現(xiàn)了靈巧手的柔性運(yùn)動(dòng)控制,具有較強(qiáng)的實(shí)際應(yīng)用價(jià)值。本文首先對(duì)國(guó)內(nèi)外靈巧手的控制系統(tǒng)和控制方法進(jìn)行了分析,在此基礎(chǔ)上,采用分層控制的思想設(shè)計(jì)了靈巧手的控制系統(tǒng)。頂層為規(guī)劃層,對(duì)靈巧手的抓取運(yùn)動(dòng)進(jìn)行整體規(guī)劃,用Visual Studio軟件設(shè)計(jì)人機(jī)交互界面,可以發(fā)出單指或多指運(yùn)動(dòng)控制指令,能夠顯示手指關(guān)節(jié)轉(zhuǎn)角和手指指尖力的變化曲線(xiàn),可以對(duì)傳感器和通訊接口進(jìn)行設(shè)置。中間層采用DSP芯片協(xié)調(diào)每根手指之間的運(yùn)動(dòng)。底層采用FPGA對(duì)靈巧手單個(gè)手指的運(yùn)動(dòng)進(jìn)行控制。頂層與中間層的通信采用USB接口通信,中間層與底層的通信采用LVDS通信。其次,對(duì)靈巧手的核心控制器DSP和FPGA的電路進(jìn)行了設(shè)計(jì),利用FPGA對(duì)手指?jìng)鞲衅鞯男盘?hào)進(jìn)行采集,并且控制直流電機(jī)的運(yùn)動(dòng)。選取合適的手指?jìng)鞲衅?設(shè)計(jì)了傳感器的信號(hào)處理電路。在硬件設(shè)計(jì)的基礎(chǔ)上,對(duì)控制系統(tǒng)的軟件進(jìn)行了設(shè)計(jì),包括人機(jī)交互界面和相關(guān)程序的設(shè)計(jì)。最后,采用機(jī)器人D-H參數(shù)法建立靈巧手的運(yùn)動(dòng)模型,并進(jìn)行了運(yùn)動(dòng)學(xué)分析,推導(dǎo)出雅可比矩陣。在設(shè)計(jì)好的控制系統(tǒng)基礎(chǔ)上對(duì)靈巧手的位置控制和基于位置的阻抗控制進(jìn)行了研究和實(shí)驗(yàn)。
[Abstract]:Multi-degree-of-freedom dexterous hand is one of the end actuators of robot. Its flexibility and controllability is an important embodiment of the automation level, which greatly affects the intelligent level of the robot. The design and control method of multi-degree-of-freedom dexterous hand control system has become an urgent task for robot personification research. This paper studies and summarizes the domestic and foreign dexterous hand control system. A multi-degree-of-freedom dexterous hand control system using hierarchical control method is designed. The flexible motion control of the dexterous hand is realized by using the impedance control strategy based on position. This paper first analyzes the control system and control methods of dexterous hand at home and abroad, and on this basis. The control system of dexterous hand is designed by using the idea of layered control. The top layer is the planning layer, the grasp movement of dexterous hand is planned as a whole, and the man-machine interface is designed with Visual Studio software. Can issue single or multi-finger motion control instructions, can show the finger joint angle and finger tip force change curve. The sensor and communication interface can be set up. The middle layer uses DSP chip to coordinate the movement between each finger. The bottom layer uses FPGA to control the movement of a single finger of a dexterous hand. The communication is based on USB interface. The communication between the middle layer and the bottom layer adopts LVDS. Secondly, the circuit of DSP and FPGA, the core controller of dexterous hand, is designed, and the signal of finger sensor is collected by FPGA. The signal processing circuit of the sensor is designed. Based on the hardware design, the software of the control system is designed. Finally, the robot D-H parameter method is used to establish the motion model of dexterous hand, and the kinematics analysis is carried out. The Jacobian matrix is derived. Based on the designed control system, the position control and the impedance control of the dexterous hand are studied and tested.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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本文編號(hào)：1412046