Arduino环境下冗余度机械臂E47算法的实现

Implementation of E47 algorithm of redundant manipulator in Arduino environment

针对目前机械臂运动规划与控制系统成本较高,机器人技术难以普及等问题,选择8位单片机实现机械臂运动规划算法;为提高机械臂执行任务的实时性,提出了一种基于Simulink的机械臂运动规划硬件实现模型。首先,对机械臂进行运动学分析,建立数学模型;其次,将机械臂的运动规划问题转化成二次规划问题,同时引入误差补偿函数以减小机械臂运动过程中产生的位置误差;在Arduino Mega2560平台下,利用E47数值算法对机械臂运动规划问题进行求解;利用Matlab对机械臂执行圆形和正方形轨迹跟踪任务进行仿真实验;最后,通过硬件实现模型对机械臂执行正方形轨迹进行实物验证。结果表明:8位单片机对机械臂运动规划算法的实现具有可行性和可适用性,在硬件实现模型中具有有效性,为后续更好地研究机械臂运动规划提供了参考。

The high cost of the motion planning and control system of the manipulator decreases practical opportunities for the related educatees,which makes it difficult to popularize the robot technology.In this paper,an 8-bit microcontroller was used to implement the manipulator motion planning algorithm and a hardware implementation model of manipulator motion planning based on Simulink was proposed to improve the real-time performance of manipulator.Firstly,the kinematic analysis of the manipulator was given out,and the mathematical model was established.Secondly,the motion planning scheme of the manipulator was transformed into a quadratic programming problem,and the error compensation function was introduced to reduce the position-error generated during the manipulator motion.Then,in the Arduino Mega2560 platform,the E47 algorithm was used to resolve the manipulator motion planning scheme;the Matlab was used to perform the circular and square path tracking tasks of the manipulator.Finally,the hardware implementation model was used to verify the square trajectory of the manipulator.The results indicate the feasibility and applicability to realize the manipulator motion planning algorithm using the 8-bit microcontroller,and the validity of the hardware implementation model,which provides a basis for the study of the motion planning of the manipulator.