摘要
以实验室的五自由度飞机表面清洗机器人为样机,为其搭建一套含三维实时运动仿真的实时控制系统。该系统硬件主要采用CAN卡和Copley的驱动器进行运动控制,软件采用Visual Studio C#对三维软件SolidW orks进行二次开发。利用数据库将运动控制软件和三维仿真软件相结合,实现三维实时仿真。实验表明:该系统在保证精度的前提下,可对机器人下达控制指令的同时通过三维模型反馈其运动的实时位姿,记录其运动数据,从而实现对机器人的实时控制与监控。
As the research object of lab’saircraft exterior cleaning robot with 5-DOF,a real-time control system with 3 D real-time motion simulation is built for it. CAN card and Copley drivers are mainly usedin the hardwaresystemto implement real-time control. The 3 D software Solid Worksis secondary developed by Visual Studio C# in the software design. By using database,real-time control software and 3 D simulation software are combined to implement the 3 D real-time motion simulation. Experiment shows that,not only can the robot be commanded,but also this system can feed the pose back through 3 D model in real time and record the data generated by movement of the robot on the premise of guaranteeing precision,and the robot can be controlled and monitored in real time.
作者
马天驹
金玉阳
李姝娴
黄维欣
武伟
Tian-ju MA;Yu-yang JIN;Shu-xian LI;Wei-xin HUANG;Wei WU(Robotics Institute, Civil Aviation University of China, Tianjin 300300, China)
出处
《机床与液压》
北大核心
2019年第12期65-70,77,共7页
Machine Tool & Hydraulics
基金
Sponsored by National Undergraduate Training Programs for Innovation and Entrepreneurship(national level)(201710059003)
Sponsored by Boeing Fund(20170159203)
Sponsored by Basic Scientific Research in Colleges and Universities Operating Costs of the Central(20001833)~~
