【作者】 张奇；

【导师】 于殿勇；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2009， 硕士

【摘要】 仿人机器人是研究人类智能的高级平台,它是综合机械、电子、计算机、传感器、控制技术、人工智能、仿生学等多种学科的复杂智能机械,目前已成为机器人领域的研究热点问题之一。本文结合国家863计划先进制造技术领域“仿人机器人高性能单元与系统”中快速手臂课题,研制了基于PCI-DSP/FPGA-FPGAs的新型硬件结构的快速手臂。该硬件结构将基于FPGA的关节控制器集成在每个关节内实现所有的底层操作,包括传感器采集、数据融合和电机矢量控制;将基于PCI总线的DSP/FPGA控制板作为上层控制器,实现轨迹规划、运动学和动力学等计算,其中的FPGA主要实现通信接口,使DSP能更加高效的处理复杂算法;本文采用了基于多点低压差分(M-LVDS)的高速串行总线,实现上下层通信周期为200us的高速通信。为了提高手臂的快速响应能力和防抖动能力,研究PMSM电机的方波驱动和SVPWM驱动方式的差别。采用D-H参数法对六自由度手臂运动学建模仿真并验证其正确性进而应用在快速手臂控制系统中。建立关节雅可比矩阵,实现关节空间到笛卡尔空间速度的转换。为了更好的实现手臂的控制,在关节控制中引入了重力补偿和摩擦补偿。在整个系统平台建立之后,完成快速手臂的指标验证实验。结果表明,快速手臂满足指标要求。更多还原

【Abstract】 Humanoid robot is a high-level platform to study human intelligence. It is a complexity of intelligent machine which integrates mechanical, electronic, computer, sensors, control technology, artificial intelligence, bionics and other disciplines. At present, this domain has become a hot research issue in the robot field.Combined with the rapid robot manipulator issues in the National 863 Project in the field of advanced manufacturing technology--"Humanoid robot of high-performance modules and systems", A rapid robot manipulator control system is designed with a novel DSP/FPGA-FPGAs hardware architecture. In this hardware architecture, a FPGA is introduced in each joint as joint level to realize the motor motion control, including the multi-sensors detection, sensors data syncretism and field oriented control. The kernel of the hardware system is a peripheral component interface (PCI)-based high speed floating-point DSP for the Cartesian level control, including the trajectory plan, calculation of kinematics and dynamics. A high speed (200 us cycle time) multipoint low-voltage differential signaling (M-LVDS) serial data bus communication is specially designed between robot Cartesian level and joint level. In order to improve the manipulator rapid response capability and stability,the differences between the square drive and SVPWM drive have been researched. The kinematics modeling of the manipulator with six degrees of freedom is established using the D-H Parameter method and verified its correctness with MATLAB. Further, the model is applied in the fast-mechanical arm control system. The joint Jacobian matrix is established to realize the conversion from the joint space speed to Cartesian space speed. In order to achieve better control of arm, the gravity compensation and friction compensation is introduced to the joint control. Established the whole system platform, the rapid manipulator’s indicators are verified on the platform. The results show that the indicators meet the requirements of rapid arm.更多还原