自驱动关节臂坐标测量机上位机测控系统软件设计与仿真

Software Design and Simulation of Host Computer Measurement and Control System for Self-driving Articulated Arm Coordinate Measuring Machine

传统测量机测量软件可以实现数据采集、仿真环境和手动示教等单一功能,但未实现自驱动一体化。本文基于Visual Studio 2015开发平台中的MFC搭建了软件整体框架,采用跨平台应用程序接口OpenGL研究了仿真环境的模型导入显示和待测坐标点抓取。根据抓取的坐标点数据,将MFC和MATLAB软件进行数据链接,以实现测量机的运动学逆解及其路径规划。分别采用CSerial类、socket类进行串口通信和以太网通信,将逆解得到的关节转角参数和运动参数传输至下位机控制器系统,驱动关节臂进行目标点测量。将下位机系统采集的测量数据反馈至上位机交互界面,根据MATLAB软件编写的算法进行误差补偿,并利用SQL数据库链接实现数据存储、查询、插入和删除等功能,完成高效实时的数据传输。实验结果表明,测量系统软件可以有效地完成三维模型显示与坐标点抓取,两种通信方式均可实现数据的传输和读取,能存储采集到的数据并调用MATLAB函数进行处理,完成误差补偿,提高关节臂的测量精度,最终实现自驱动功能为一体。

Traditional measuring machine measurement software can realize single functions such as data acquisition,simulation environment,manual teaching,etc.,but it does not realize self-driving integration.An overall software framework is built based on the MFC in the Visual Studio 2015 development platform,and the cross-platform application program interface OpenGL to study the model import display of the simulation environment and the capture of the coordinate points is used.According to the captured coordinate point data,MFC and MATLAB are data-linked to realize the inverse kinematics solution of the measuring machine and its path planning.The CSerial type and socket type are used for serial communication and ethernet communication respectively,and the joint rotation angle parameters and motion parameters obtained by the inverse solution are transmitted to the lower computer controller system,and the articulated arm is driven to measure the target point.The measurement data collected by the lower computer system is fed back to the upper computer interactive interface,error compensation is performed according to the algorithm written by MATLAB,and the SQL database link is used to realize data storage,query,insert,and delete functions to complete efficient and real-time data transmission.The experimental results show that the measurement system software can effectively complete the three-dimensional model display and coordinate point capture,and both communication methods can achieve data transmission and reading.The collected data can be stored and MATLAB function is called for processing,error compensation is completed,the measurement accuracy of the articulated arm is improved,and finally the self-driving function is realized as a whole.