摘要
针对非常热门的机器人技术,搭建一款小型的六自由度机械臂系统。该六自由度机械臂系统包含有电源及调理模块、单片机控制模块、六自由度机械臂机械结构、姿态控制蓝牙手柄、720P高清晰摄像头模块等5个模块构成。后续通过对机械臂系统进行基于D-H模型的正运动学和逆运动学分析,进一步加强对机械臂姿态控制。最终通过SP2蓝牙手柄与ZideMini(v1.33)上位机控制软件,实现了对该六自由度机械臂系统进行精准控制。上述研究对机械臂系统进行后续更深层次研究奠定了最重要的基础。
In view of the very popular robot technology, a small six degree of freedom(DOF) robot arm system is built. The 6-DOF robot arm system consists of five modules: power supply and conditioning module, MCU control module, mechanical structure of 6-DOF robot arm, attitude control Bluetooth handle, 720 P high-definition camera module. Subsequently, through the forward kinematics and inverse kinematics analysis of the manipulator system based on D-H model, the attitude control of the manipulator is further strengthened. Finally, through SP2 Bluetooth handle and ZideMini(v1.33) upper computer control software realizes the precise control of the 6-DOF manipulator system. The above research has laid the most important foundation for the further research of the robot arm system.
作者
王凤祥
张志杰
陈昊泽
Wang Fengxiang;Zhang Zhijie;Chen Haoze(School of Instrument and Electronics,North University of China,Taiyuan 030051,China;Key Laboratory of Instrument Science&Dynamic Measurement,Ministry of Education,Taiyuan 030051,China)
出处
《电子测量技术》
北大核心
2021年第4期1-8,共8页
Electronic Measurement Technology
关键词
机器人
六自由度
机械臂
D-H模型
正逆运动学
姿态控制
robot
six degrees of freedom
robot arm
D-H model
forward and inverse kinematics
attitude control
