摘要
为了实现果实的收割,设计了一种基于STM32处理器的机械臂运动控制系统。该系统以STM32F103微控制器为核心,完成机械臂运动控制模块的设计;利用D-H参数法研究分析多关节机械臂的正、逆运动学问题,建立机械臂的运动学仿真模型,并实现机械臂平面作业轨迹跟踪仿真,验证其运动学正逆解的正确性。基于PC+STM32运动控制模块,控制实现机械臂的运动轨迹跟踪,利用机械臂完成运动控制实验。实验结果表明该控制系统能够实现果实收割。
In order to realize fruit harvesting,a manipulator motion control system based on STM32 processor is designed.The system takes STM32F103 microcomputer as the core to complete the design of manipulator motion control module,studies and analyzes the forward and inverse kinematic problems of multi-joint manipulator by using D-H parameter method,establishes the kinematic simulation model of manipulator,and realizes the plane operation trajectory tracking simulation of manipulator to verify the correctness of its forward and inverse kinematic solutions.Based on the PC STM32 motion control module,the motion trajectory tracking of the manipulator is realized,and the motion control experiment is completed by using the manipulator.The experimental results show that the control system can realize fruit harvesting.
作者
刘卓远
李林升
Liu Zhuoyuan;Li Linsheng(School of Mechanical Engineering,University of South China,Hengyang 421001,China;School of Electrical Engineering,University of Shanghai DianJi,Shanghai 201306,China)
出处
《信息技术与网络安全》
2019年第12期70-73,85,共5页
Information Technology and Network Security
