摘要
设计了一种基于QNX-Simulink的机器人实时控制平台。该平台采用基于模型的设计方法,通过Simulink进行机器人系统的可视化建模及控制算法编程;经过二次开发Matlab/RTW工具箱自动生成QNX控制代码;以TCP/IP方式进行数据通信,实现对机器人的实时控制。以灵巧手控制平台设计及其位置控制为例,该平台编程简单、调试方便、可移植性较好,仿真结果与实验结果误差趋势一致,证明了该平台的可行性。
Due to the problems of difficult coding,inconvenient debugging and poor portability of currently existing robot experiment platform,a real-time control platform is designed using QNX-Simulink.The modelbased design method is utilized,the robot model and control algorithm are visually designed by Simulink;the Matlab/RTW toolbox is partially modified in order to generate the control code automatically;and the TCP/IP protocol is adapted to realize data communication.Taking the platform design and control of a dexterous robot hand as an example,this paper compares the simulation result with the experimentation result,the trend of the error has consistence,which has proved the feasibility of the platform.
出处
《实验技术与管理》
CAS
北大核心
2015年第7期139-143,163,共6页
Experimental Technology and Management
基金
国家自然科学青年基金项目(51305460)
中央高校基本科研业务费专项资金资助项目(14CX02068A)
中国石油大学教学改革重点项目(JY-A201408)
关键词
计算机仿真
机器人灵巧手
实验平台
实时控制
computer simulation
robot hand
experiment platform
real-time control
