六自由度机械臂基于TTF字库的汉字书写系统设计

Design of standard Chinese characters writing system using 6-DOF manipulator based on true type font

为实现机械臂精确的轨迹规划与实时位置跟踪,针对GALIL DMC控制板卡,设计了工业机械臂实时位置跟踪控制系统和轨迹规划算法,使用REbot-V-6R六自由度机械臂完成了汉字轮廓绘制。首先,编程提取Windows自带的true type font(TTF)矢量字库的汉字轮廓信息,使用插补算法重新进行轨迹规划;然后,建立了六自由度机械臂的运动学模型,设计了机械臂末端位置控制器;最后,采用位置跟踪模式实现机械臂的运动控制,实现了机械臂的汉字书写功能。

In order to realize precise trajectory planning and real-time position tracking,the real-time position tracking control system and trajectory planning algorithm were designed for GALIL DMC control board. The Chinese characters outline drawing was completed using REbot-V-6R manipulators. Firstly,the outline of characters,using True Type Font in Windows,was extracted and planned again using interpolation compensation algorithm. Secondly,the kinematic model of 6-DOF manipulator was established and the position controller of end effector was developed. Finally,the motion of manipulators was controlled in the position tracking mode. Thus standard Chinese characters writing function of manipulator is achieved by the developed system.