【摘要】 机械臂可控性高、操作灵活，被广泛应用于智能化工业生产、制造及供应链运输中，因此，降低研究机械臂控制算法的时间和成本尤为重要。提出了一种单机型快速控制原型法平台方案，详细设计了其电控系统，在仿真计算机的MATLAB/Simulink环境中搭建了机械臂控制器模型，沟通了虚拟空间的控制算法与真实空间的机械臂，完成了基于RTWT的机械臂实时仿真系统平台的搭建，最后以四自由度液压机械臂为硬件平台进行了各关节角的点位控制实验。实验结果表明，实时仿真系统平台具有较好的实时性、可靠性和控制精度，有利于工程中机械臂控制算法的研究与应用。更多还原

【Abstract】 With high controllability and flexible operation, mechanical arm is widely used in intelligent industrial production, manufacturing and supply chain transportation. Therefore, it is particularly important to reduce the time and cost of research on the control algorithm of mechanical arm. To this end, this paper proposes a single machine rapid control prototyping platform scheme and the detailed design the electric control system, in the computer simulation of MATLAB/Simulink environment structures, the mechanical arm controller model, the communication of the control algorithm of virtual space and real space manipulator, finished based on the real-time simulation of mechanical arm RTWT the construction of the system platform, finally, a 4-DOF hydraulic manipulator was used as the hardware platform to control the point position of each joint angle. The experimental results show that the real-time simulation system platform has good real-time performance, reliability and control accuracy, which is beneficial to the research and application of manipulator control algorithm in engineering.更多还原