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1、Proceedings of the 33rd Chinese Control ConferenceJuly 28-30, 2014, Nanjing, ChinaThe Remote Control System of the ManipulatorSUN Hua, ZHANG Yan, XUE Jingjing , WU ZongkaiCollege of Automation, Harbin Engineering University, Harbin 15000E-mail: Abstract: A remote control system of the 5 degree of fr
2、eedom manipulator was designed. This manipulator was installed into our mobile robot to constitute a remote rescue robot. The Denavit-Hartenberg method was used to establish the kinematic models and the path planning of the manipulator was researched. The operator could remote control the manipulato
3、r by the interactive interface of PC which could display moving picture and various data of the manipulator. The servos of the manipulator were controlled by the slave FPGA controller. In addition, the slave FPGA controller communicated with the PC via the wireless communication module. Owing to the
4、 embedded Nios II program and IP (Intellectual Property) core generating PWM waves in FPGA, the system could control the multiple servos fast and flexible. In order to achieve real-time operation and simulation, the interactive interface was established by the mixed programming of VC and MATLAB.Key
5、Words: The manipulator; Remote control; Denavit-Hartenberg; FPGA; Human-computer interaction1 IntroductionWith the development of the microelectronic technique and the computer technology, the manipulator has become essential equipment in the manufacturing industry. As we all known, the manipulator
6、is usually applied to accomplish dull, onerous and repeated physical work, especially used to substitute the manual operation under the dangerous and the hazardous environment such as the corrosion and the high temperature.In this paper, the manipulator was installed our mobile robot. The tele-opera
7、tion system of this manipulator was designed. The whole system is onstituted by PC and slave FPGA. The operator can remote control the manipulator by PC. The wireless communication was used for transmitting data between PC and FPGA. FPGA is controller of the the manipulator in the mobile robot. FPGA
8、 has the abundant internal resource and IP cores. And a central control option was built via an embedded Nios II program and an IP core in FPGA. Furthermore, Verilog language was adopted to design the IP core which generated digital PWM waves for controlling the manipulator. Therefore, this system c
9、ould reach higher precision and easy to debug.MATLAB software was adopted to build the kinematic models of manipulator. And using D-H (the acronym of Denavit-Hartenberg) method to solve the forward and inverse kinematic equations of the manipulator, to analyze the motivation, to plan and track the m
10、otions path. In addition, a good interface of human-computer interaction was enhanced in the remote control system of the manipulator in PC. Moreover, the manipulator simulation technology was built by using the mixed programming of VC and MATLAB. Thus, the motion choreographs was got quickly and ea
11、sily, also greatly saved time and cut the cost.2 Manipulator Model and Path PlanningAt first, the motion model of the manipulator was built. Then, the kinematic simulation and its path planning were researched. These works provided the foundation for the design of the remote control system of the ma
12、nipulator.2.1 Motion Model of the ManipulatorThe manipulator was regarded as an open loop kinematic chain. It was constituted by five rotary joints. And its one end was fixed on a base while the other end was used to achieve the ability of grabbing. Therefore, it is better to establish a chain coord
13、inate frame as shown in Fig.1. The terminal position and attitude was determined via using forward kinematic equation after knowing the rotating angle of every joint. The D-H parameter table shown as Table 1 was established by using the frames in Fig.1.Fig.1 Coordinate frames of mechanical armTable
14、1 D-H Parameters of the Robot ArmDue to D-H method:nn+1T=An+1=(Cn+1 -Sn+1Sn+1Can Cn+1Can0 an-San -Sandn+1Sn+1San Cn+1San0 0 Can Candn+10 1 )Where , , , S . The transformation Cn+1=cosn+1 Sn+1=sinn+1 Can=cosan an=sinanmatrix of every joint was given by equation (2).01T=(cos1 sin1sin1 cos10 00 00 00 0
15、 1 00 1) 12T=(cos2 -sin20 0 0 01 d1-sin2 -cos20 0 0 00 1)23T=(cos3 -sin3sin3 cos30 00 00 00 0 1 d20 1) 34T=(cos4 -sin40 0 0 0-1 -d3sin4 cos40 0 0 00 1 )(2)45T=(cos5 -sin5sin5 cos50 00 00 00 0 1 d40 1) 05T=(nx nxny nynx nxny nynz nz0 0 nz nz0 1)=01T*12T*23T*34T*45TWhere unit vector in equation (2) wa
16、s , , n, o, a n=normal n=orientation, . Parameters of mechanical arm were given by , n=approach n=position d1=85mm, , . Therefore the forward kinematicd2=116mmd3=85mmd4=95mmequation was determined by taking every parameter in equation (3).(3)05P=(180C1S(2+3)+116C1S2180S1S(2+3)+116C1S285+116C2+180C(2+3)In practical application, the manipulator was adopted to grab objects. This required that the fixed
