基于混合插值的机械升降臂控制系统设计

Design of control system of mechanical lifting arm based on hybrid interpolation

为避免机械臂升降行为出现偏差,实现对臂体结构的精准化控制,设计了基于混合插值的机械升降臂控制系统。在混合型机械驱动电路的作用下,按需连接电动升降器与控制传感器,完成对系统硬件执行环境的搭建。通过描述升降臂空间位置的方式,确定控制节点的初始化方案,再借助混合插值原理定义必要的机械升降臂运动姿态,实现系统软件执行环境的搭建,再结合相关硬件设备元件完成控制系统设计。对比实验结果表明,与传统轮式控制系统相比,文中系统可将对机械臂升降行为的实控误差缩小至20%以下,且能够有效抑制非合理升降指令的产生,满足核心应用主机对臂体结构精准化控制处理的需求。

In order to avoid the deviation of the lifting behavior of the mechanical arm and realize the precise control of the arm structure,the control system of the mechanical arm based on hybrid interpolation was designed.Under the role of hybrid mechanical drive circuit,the electric lifter and control sensor are connected as needed to complete the construction of system hardware execution environment.By describing the space position of the boom,the initialization scheme of the control node is determined,and the necessary movement attitude of the boom is defined by the principle of hybrid interpolation,so as to build the system software execution environment.The control system design is completed by combining the relevant hardware equipment elements.The experimental results show that compared with the traditional wheel control system,the actual control error of the robotic arm lifting behavior can be reduced to less than 20%in this system,and the generation of unreasonable lifting instructions can be effectively restrained,so as to meet the core application host's demand for precise control and processing of the arm structure.