摘要
针对Delta并联机械手对目标物体的拾放任务,基于MATLAB图像处理技术获取目标物体的中心坐标,并在直角坐标空间中进行机械手的五次多项式轨迹规划,得到末端运动平台的运动轨迹。建立Simulink/Simmechanics联合仿真系统,采用Simulink完成多项式轨迹规划并得出驱动臂的实时目标角度,传递给Simmechanics模拟机械手的连续轨迹运动,得到机械手的动力学参数。运用MATLAB/GUI设计仿真平台,集成图像处理和机械手运动仿真并实现不同插件之间数据的传递。最后通过运动仿真实例验证了仿真平台的有效性,对机械手驱动电机选型和智能化控制研究有较大价值。
Aiming at the target about the pick-and-place task for Delta parallel manipulator,the central coordinates of target object were obtained based on MATLAB image processing technology.The five degree polynomial trajectory planning algorithm of the manipulator was carried out in cartesian space to obtain the trajectory of the end motion platform.The Simulink/Simmechanics joint simulation system was established.The polynomial trajectory planning was solved in Simulink to obtain the real-time target angle,which was transferred to Simmechanics to simulate the continuous track motion of the manipulator,and the dynamic parameters of manipulator were obtained.Using MATLAB/GUI to design simulation platform,image processing function and motion simulation function were integrated to realize the data transmission between different plug-ins.At last,the reliability of simulation platform were verified by motion simulation example.The simulation platform has great value to the selection of driving motor and intelligence control of manipulator.
作者
彭志文
陶春荣
陈威
杜仁慧
PENG Zhiwen;TAO Chunrong;CHEN Wei;DU Renhui(724 Research Institute,China Shipbuilding Industry Corporation,Nanjing Jiangsu 211153,China)
出处
《机床与液压》
北大核心
2018年第17期53-56,共4页
Machine Tool & Hydraulics
关键词
Delta并联机械手
轨迹规划
图像处理
仿真平台
Delta parallel manipulator
Trajectory planning
Image processing
Simulation platform
