摘要
以机械臂为代表的工业设备,直接影响着制造业生产水平。在喷漆、焊接等生产场景下,人们希望机械臂的末端轨迹符合预期。由于工况及受到干扰的影响不完全相同,机械臂各关节的单轴跟踪性能很难保持一致,此时便需要进行多轴同步控制,以便多个电机同步配合完成工作,确保末端轨迹精度满足要求。在分析三维轨迹误差后,根据串联机械臂的运动学特征,基于偏差耦合结构,得出各关节轴的同步修正量,并在基于Xilinx ZYNQ的六轴机械臂实验平台上通过对比实验的方式检验了该方法的工作效果。
Industrial equipment represented by robotic arms directly affects the production level of manufacturing industry.In some situations such as painting and welding,people hope that the trajectory of the robotic arm’s end will meet expectations.Due to different working conditions and external interference,it is difficult to keep the single-axis tracking performance of each joint consistent.At this time,multi-axis synchronous control is required so that multiple motors can cooperate synchronously to complete the work and ensure the accuracy of end trajectory.In this paper,the synchronous correction amount of each joint based on the relative coupling structure is obtained after analyzing the three-dimensional trajectory error and kinematics characteristics of serial manipulator.The effect of the method is verified by a comparative experiment on the six-axis manipulator experimental platform based on Xilinx ZYNQ.
作者
韩德强
王新雨
杨淇善
Han Deqiang;Wang Xinyu;Yang Qishan(Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China)
出处
《电子技术应用》
2023年第8期119-124,共6页
Application of Electronic Technique
关键词
同步控制
轨迹精度
FPGA
机械臂
synchronous control
trajectory accuracy
FPGA
manipulator
