摘要
建筑行业中水泥地面多采用人工配合机械进行打磨平整,工作环境恶劣且工作效率低,而自动打磨机器人可以代替人工作业、提高工作效率。针对水泥地面打磨机器人,研究其复杂运动中基本运动的控制,提出了水泥地面打磨机器人运动控制方案。首先建立机器人的运动学模型,并设计实现了基本运动的速度控制算法,然后以STM32单片机为控制的核心,完成了对水泥地面打磨机器人运动控制系统的设计,实现了机器人复杂轨迹中基本运动的控制。实验结果表明,机器人在直线运动和转弯运动时,最大定位误差为3.1 cm。验证了该系统对于机器人基本运动控制的可靠性和稳定性,为类似的机器人的控制提供参考。
In the construction industry,the cement floor is often polished by manual and mechanical methods.The working environment is harsh and the working efficiency is low.The automatic polishing robot can replace manual operation and improve the working efficiency.In this paper,the basic motion of the cement floor polishing robot is studied,and the motion control scheme of the robot is proposed.Firstly,the kinematics model of the robot and the speed control algorithm to realize the basic motion were designed.Then,the design of the motion control system of the cement ground grinding robot was designed with STM32 single chip microcomputer as the control core,and the basic motion control in the complex trajectory of the robot was realized.Experimental results show that the maximum positioning error of the robot is 3.1 cm when it moves in a straight line and turns.The reliability and stability of the system for the basic motion control of the robot are verified,which provides a reference for the control of similar robots.
作者
胡春生
修瑞
王德
Hu Chunsheng;Xiu Rui;Wang De(School of Mechanical Engineering,Ningxia University,Yinchuan 750021,China;The 21st Research Institute of CETC,Shanghai 200233,China)
出处
《电子技术应用》
2020年第2期103-108,共6页
Application of Electronic Technique
