排爆机器人机械臂运动控制研究

Study on the Movement Controling of EOD Robot Arm

针对如何控制排爆机器人机械臂运动,结合运动学方程,设计了机械臂运动的控制系统。该系统采用嵌入式工控计算机进行上下位机的通信控制,提高了控制系统的可靠性;将DirectX技术中的DirectInput及DirectShow编程运用于机械臂的控制,使得控制策略更加灵活有效;运用推力稳定的电动推杆结构,实现了四自由度机械臂的平稳伸缩;采用三电机驱动的夹钳式手爪可实现大夹持力抓取。机械臂抓取实验表明,该控制系统能实时、快速响应控制,靠近并准确抓取可疑目标物完成排爆任务。

The major work of this paper is the research of controlling EOD robot arm .By using the kinematics equation ,control system of the robot arm are designed .This system made use of embedded industrial controlling computer PC/104 to control the communication between a master computer and a slave computer ,thus raised the reliability of the system .DirectInput and DirectShow programming technology in DirectX are used in the control of mechanical arms ,w hich makes the control policies more flexible and effective .And the electric push rod structure is used to make movement more stable .In addition ,it comes true that the clamp driven by three -electric machine can make the greater grab .Experiment results show that the mechanical arm can successfully do its job ,grasp the suspicious objects very quickly and accurately .