基于CODESYS平台的移动机械臂运动控制系统设计

Design of mobile manipulator motion control systems based on CODESYS Platform

针对传统六关节机械臂操作空间有限的问题,以移动底盘和Elfin05机械臂为控制对象,采用ARM+CODESYS架构和PLCopen规范设计了一款移动机械臂运动控制器。首先根据MD-H参数与坐标变换思想建立移动机械臂正运动学模型,基于关节角参数化解析法简化移动机械臂的冗余度进行逆运动学求解,并设计相应运动学功能块;其次采用分布式控制思想设计控制模块,以SM3_CNC库为基础设计了机械臂的点到点运动控制功能块,基于Backstepping法设计了移动底盘的跟踪控制功能块;再次以Visualization模块为基础设计人机交互界面;最后以该机器人为实验对象进行实验,实现了移动底盘与机械臂的协同运动,增加了传统六关节机械臂可操作空间,并验证了该运动控制器设计的有效性。

Aiming at solving the problem of limited operating space of traditional six-joint manipulator,a motion control systems for mobile manipulator was designed by using ARM+CODESYS architecture and PLCopen specification,taking mobile chassis and Elfin05 manipulator as control objects.Firstly,the forward kinematics model of the mobile manipulator was established according to the MD-H parameter and the coordinate transformation idea,and the inverse kinematics was solved by simplifying the redundancy of the mobile manipulator based on the joint angle parameter resolution method,and the corresponding kinematic function blocks were designed.Then,the control module was designed using the distributed control idea,the point-to-point motion control function block of the mobile basement was designed based on the SM3_CNC library,the tracking control function block of the manipulator was designed based on the Backstepping method.Then the Visualization interface of human-computer interaction was designed based on the visualization module.Finally,experiments were conducted on the robot,which successfully achieved synergic movement between the mobile chassis and manipulator.This increased the operable space of the traditional six-joint manipulator,and verified the effectiveness of the motion controller design.