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基于Linux的機(jī)械臂實(shí)時控制系統(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,多依賴于國外價格昂貴的商用系統(tǒng),采用在Linux中加入RT補(bǔ)丁的實(shí)時改造方法,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)程的一個多任務(wù)處理的機(jī)械臂控制系統(tǒng);同時對機(jī)械臂的上位機(jī)進(jìn)行軟件設(shè)計,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)時性檢驗,其結(jié)果滿足實(shí)時性,同時利用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 selfdeveloped robotic arm control system,it is mostly dependent on foreign expensive commercial businesses.It adopts a realtime transformation method that adds RT patches to Linux.A sixdegreeoffreedom robotic arm is used as the research object,and the system architecture is built on the lower computer to implement a multitasking 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 humanmachine interface instructions.Status display,communication and other functions provide an effective development plan for the realtime control system of the robotic arm.By using the RT test tool set for realtime inspection,the results meet the realtime 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;realtime operating system;realtime 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)時性好,但是價格昂貴,而價格低廉、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)時性,需要對其進(jìn)行實(shí)時性改造




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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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