基于虚拟位姿迟钝搜索的仿人机器人手臂抓取控制系统的设计

Based on Virtual Pose Slow Search Grab Control System of Humanoid Robot Arm Design

摘要:

为了使仿人机器人手臂抓取控制系统更加智能化,提高运行效率,设计并实现了一种基于虚拟位姿迟钝搜索的仿人机器人手臂抓取控制系统。系统采用PMAC运动控制器完成机器人运行数据的传递、处理以及对机器人手臂抓取工作台的控制,采用Accelus系列数字伺服驱动器,调控仿人机器人运动位置和速度,通过关节控制器对机器人抓取过程中手臂关节的位置、速度以及角度信息进行控制,通过以S3C2440为核心芯片的上位机,实现仿人机器人手臂控制的远程通信以及抓取任务的调度,完成仿人机器人手臂抓取的智能控制,软件设计过程中,对基于虚拟位姿迟钝搜索的仿人机器人手臂抓取控制算法进行了详细分析,并给出了机器人手臂抓取控制程序代码实例,通过仿真实例验证了本系统的可用性和实用性。

Abstract:

In order to make the humanoid robot arm to grab more intelligent control system, improve the operation efficiency, designs and realizes a humanoid robot based on virtual posture slow search arm grab control system. System with the help of a robot with PMAC motion controller, data transmission, processing, and control of the robot arm grab the workbench, with Accelus series digital servo drive, position and speed control humanoid robot movement, through the joint controller for robot arm joint in the process of fetching information to control the position, velocity and Angle, through the upper machine based on S3C2440 chip, realize remote communication of humanoid robot arm control and grab the task scheduling, complete the intelligent control of humanoid robot arm to grab the software design process, the humanoid robot based on virtual posture slow search arm grab control algorithm are analyzed in detail, and gives the robot arm to grab control program code examples, the availability of this system is verified by simulation examples and practical.