遥操作机器人多关节联动控制算法

Multi-joint Linkage Teleoperation Control Algorithm

直线插补算法易于编程实现,且能使机器人手臂的运动轨迹以较高的精度逼近预定义轨迹。根据基于蓝牙通信的5DOF遥操作机器人的实际要求,采用绝对坐标值法计算各关节电机所需脉冲个数,并且使用MC9S12XDP512单片机的五个输出比较通道来控制机器人手臂的五个关节电机。每次得到上位机发送的关节运动量后,以五个输出比较通道中分配到最多脉冲的通道频率作为其他通道的脉冲频率基准以保证各关节在运动过程中的联动。实验证明,该算法精确有效。

Linear interpolation algorithm is easy to implement and make the trajectory of the robot arm with a high accuracy approximation of pre-defined trajectory.According to the practical requirements of the bluetooth-based communication 5DOF teleoperation,use the absolute coordinate methode to calculate the number of pulses required for each joint motor and make use of five output compare channels of MC9S12XDP512 microcontroller to control the five joint motors of the robot arm.After the joint exercise sent by the host computer,the channel of the five which assigned to a maximum pulse frequency of the pulse as a frequency reference of other channels to ensure that the process of movement of each joint in the linkage.Experiments show that the algorithm is efficient and accurate.