基于D-H参数的爬壁机器人吸附控制系统设计

Design of Adsorption Control System of Wall-climbing Robot Based on D-H Parameters

传统爬壁机器人吸附参量存在同步不对称的问题,导致爬壁机器人吸附控制系统输出控制量精度降低,影响机器人整体控制效果;为了解决爬壁机器人吸附参量不对称问题,提出基于D-H参数的爬壁机器人吸附控制系统设计;基于D-H参数特点,设计系统总体框架,框架共分为硬件与软件两部分;硬件主要利用动态陀螺仪控制器控制处理指令数据,完成处理模块设计;通过无线控制遥感器KJ-F6000X-T6实现控制模块设计;软件部分采用与D-H参数相关的算法对控制程序进行设计;通过实验对比数据表明:提出设计系统具有同步爬壁机器人吸附参量对称性,单次控制量、双次控制量、多次控制量系数分别为0.7、0.6、0.5,符合控制系数标准范围,能够提升系统控制量输出精度。

The adsorption parameters of traditional wall-climbing robots have the problem of synchronization asymmetry,which leads to a decrease in the accuracy of output control of the adsorption control system of wall-climbing robots,which affects the overall control effect of the robot.In order to solve the problem of asymmetry of the adsorption parameters of the wall-climbing robot,a design of the adsorption control system of the wall-climbing robot based on D-H parameters is proposed.Based on the characteristics of DH parameters,the overall framework of the system is designed.The framework is divided into two parts:hardware and software;the hardware mainly uses the dynamic gyroscope controller to control the processing instruction data to complete the processing module design;realize the control modular design through the wireless control remote sensor KJ-F6000X-T6.The software part uses algorithms related to D-H parameters to design the control program.The experimental comparison data shows that the proposed design system has the symmetry of the adsorption parameters of the synchronous wall-climbing robot.The coefficients of the single control quantity,the double control quantity and the multiple control quantity are 0.7,0.6 and 0.5 respectively,which meet the standard range of the control coefficient and system control output accuracy can be improved.