摘要
为了准确测取液压传动机构的位姿数据用以跟踪控制,该文通过分析转角测量方法的优缺点,根据机构的运动学分析,转换测试思路,提出以液压缸行程的线位移测量取代关节转角测量。以挖掘机工作装置分析为例,在建立液压缸行程与各关节转角的转换模型基础上,利用单片机和LabVIEW联合开发数据采集及后处理系统,实现各关节转角的实时显示和保存,为自主挖掘的伺服控制系统提供了可靠的位姿数据。
Trajectory tracking is necessary to servo control for many mechanisms which shift pose by hydraulic transmission mechanism.The aim of this research is to find how to detect the pose accurately for trajectory tracking.Based on the kinematic analysis,a novel method is presented to measure hydraulic cylinder displacement but angular displacement of joints by analyzing the shortcoming of measuring angular displacement directly.Taking an excavator＇s working device as the example,a transformation model from the angular displacement of joints to journey of hydraulic cylinder is built.A prototype is developed for data acquisition and processing by using the SCM and LabVIEW,which could show and save the real-time angular displacement of joints.
出处
《实验技术与管理》
CAS
北大核心
2015年第4期33-35,43,共4页
Experimental Technology and Management
基金
山西省青年科技研究基金项目(2010021021-2)
太原科技大学教育教学改革研究项目(2014-13)
关键词
液压传动机构
轨迹跟踪
位姿检测
液压缸行程检测
数据采集
hydraulic transmission mechanism
trajectory tracking
position and orientation measurement
journey detection of hydraulic cylinder
data acquisition
