【作者】 刘强；

【导师】 裴以建；

【作者基本信息】 云南大学 ， 检测技术与自动化装置， 2018， 硕士

【摘要】 自机器人诞生以来发展至今已取得了辉煌的成就。其在各个领域都有着广泛的应用,不仅解放了人们的双手,而且大大提高了生产效率,同时在某些特殊情况下能够代替人进入到危险的工作环境中作业,保障作业人员的生命安全。但在许多复杂的环境下,从事复杂作业的机器人无法自主的完成任务只能以手动操作的方式操控机器人工作,操作人员对机器人的控制直接决定了作业的完成时间和效果。机械臂作为机器人的典型代表,本课题旨在设计一种可穿戴式的机械臂控制交互系统,提高机械臂在各种复杂环境下的可用性和工作效率。本文设计并实现了基于关节角度检测的机械臂控制系统。该系统通过可穿戴的角度位移传感器检测人体手臂各个关节的角度,进而控制机械臂的关节角度。通过人体的自然肢体动作对机械臂进行精准控制,不仅解放了操作人员的双手,而且减小了环境因素对控制效果的影响。该机械臂控制系统整体设计由关节角度检测与数据处理、控制器、舵机(机械臂实体)控制和上位机人机交互模块组成。该系统通过角度位移传感器将人体手臂关节角度信息转换为模拟电压,再经过卡尔曼滤波处理后作为控制器的输入信号。基于STM32的增量式PID控制器根据输入信号和机械臂的角度反馈信号计算出机械臂的控制信号控制舵机。位于PC端的上位机通过串口与STM32主控制板相连,接受并显示手臂和机械臂的实时关节角度,提高人机交互的友好性。本文不仅设计了机械臂控制系统,同时对所设计的机械臂进行了正/逆运动学方程求解。同时采用Matlab的Robotics Toolbox机器人工具箱对其正确性进行仿真,并绘制了各关节的运动轨迹。最后通过实验测试对机械臂控制系统的可行性、可靠性进行了验证。经验证该机械臂控制系统达到了预期的设计要求,能够对机械臂进行有效、稳定和精准的控制。更多还原

【Abstract】 The development of the robot has achieved brilliant results being born.The robotic arm is a typical representative of a robot.It has a wide range of applications in various fields,not only liberating people’s hands but also greatly improving the production efficiency;and in some special cases,it can replace people into working in a hostile dangerous working environment,and protect the safety of workers’ lives.However,in many complex environments,robots engaged in complex operations cannot perform tasks autonomously but can only operate the robot arm manually.The completion time and effect of the robot arm depend on the operator’s control directly.This topic aims to design a wearable robotic arm control interactive system to improve the availability and work efficiency of the robot arm in various complex environments.A robotic arm control system based on joint angle detection were designed and implemented in this paper.A wearable angular displacement sensor was used to detect the angle of each joint in the human arm to control the joint angle of the robot arm in the system.Realizing the precise control of the robot arm through the body’s natural limb movement not only freed the operator’s hands but also reduced the influence of environmental factors on the control effect.The overall design of the robot control system consisted of joint angle detection and data processing,controller,servo(robot body)control and upper computer man-machine interaction module.The system used the angular displacement sensor to converted the angle information of the human body’s arm joints into analog voltages and then used the data processed by Kalman filter as the input signal of the controller.The incremental PID controller based on STM32 calculated the control signal of the manipulator based on the input signal and the angle feedback signal of the manipulator.The PC located on the PC side was connected to the STM32 main control board through the serial port,accepting and displaying the real-time joint angles of the arm and the robot arm,and improving the friendliness of human-machine interaction.In addition to the design of the robot control system,this paper also solves the forward/backward kinematics equations of the designed robotic arm.At the same time,Matlab Robotics Toolbox robotic toolbox was used to simulate its correctness,and the trajectory of each joint was drawn.Finally,the feasibility and reliability of the manipulator control system were verified by experimental tests.It has been verified that the control system of the robot arm has reached the expected design requirements and can control the robot arm effectively,stably and accurately.更多还原