摘要
针对机械臂在工业自动化等方面的需求,在分析了传统机械臂控制系统的基础上提出了一种以STM32F4为主控制器、陀螺仪传感器为关节状态检测器、舵机驱动模块为机械臂运动单元的六自由度控制系统。该系统采用扩展卡尔曼滤波算法(EKF算法),将陀螺仪采集的关节状态参数传递给EKF核心算法进行预估机械臂的运动状态,实现对机械臂运动过程中的偏差调控。实验表明,该控制系统的运动精度误差最大不超过18mm,能够快速、准确地调控机械臂的运动轨迹。
Aiming at the requirement of industrial automation,a six-degree-of-freedom control system with STM32F4 as the main controller,gyroscope sensor as the joint state detector and steering gear driving module as the motion unit of the manipulator is proposed based on the analysis of the traditional manipulator control system.The system uses extended Kalman filter (EKF) algorithm,which transfers the joint state parameters collected by gyroscope to EKF core algorithm to predict the motion state of the manipulator,and realizes the deviation control in the process of the manipulator motion.Experiments show that the maximum error of motion accuracy of the control system is not more than18 mm,which can quickly and accurately control the trajectory of the manipulator.
作者
龙腾
Long Teng(Colleg of Electrical and Information Engineering, Changsha University of Science & Technology,Changsha 410005,China)
出处
《信息技术与网络安全》
2019年第6期65-68,共4页
Information Technology and Network Security
