基于D-H参数的爬壁机器人吸附控制系统设计

Design of Adsorption Control System of Wall-climbing Robot Based on D-H Parameters

摘要:

传统爬壁机器人吸附参量存在同步不对称的问题,导致爬壁机器人吸附控制系统输出控制量精度降低,影响机器人整体控制效果。为了解决爬壁机器人吸附参量不对称问题,提出基于D-H参数的爬壁机器人吸附控制系统设计。利用基于D-H参数设计基于D-H参数的爬壁机器人吸附控制系统。基于D-H参数特点,设计系统总体框架,框架共分为硬件与软件两部分；硬件主要利用动态陀螺仪控制器控制处理指令数据,完成处理模块设计；通过无线控制遥感器KJ-F6000X-T6实现控制模块设计。软件部分采用与D-H参数相关的算法对控制程序进行设计。通过实验对比数据表明：提出设计系统具有同步爬壁机器人吸附参量对称性,提升系统控制量输出精度的效果。

Abstract:

The adsorption parameters of traditional wall-climbing robots have the problem of synchronization asymmetry, which leads to a decrease in the accuracy of output control of the adsorption control system of wall-climbing robots, which affects the overall control effect of the robot. In order to solve the problem of asymmetry of the adsorption parameters of the wall-climbing robot, a design of the adsorption control system of the wall-climbing robot based on D-H parameters is proposed. Using D-H parameters to design a wall-climbing robot adsorption control system based on D-H parameters. Based on the characteristics of DH parameters, the overall framework of the system is designed. The framework is divided into two parts: hardware and software; the hardware mainly uses the dynamic gyroscope controller to control the processing instruction data to complete the processing module design; realize the control through the wireless control remote sensor KJ-F6000X-T6 Modular design. The software part uses algorithms related to D-H parameters to design the control program. The experimental comparison data shows that the proposed design system has the symmetry of the adsorption parameters of the synchronous wall-climbing robot, and the effect of improving the output accuracy of the system control variables.