【摘要】：采用開源的Arduino Melzi電路板作為控制主板,并將機(jī)械手運(yùn)動(dòng)學(xué)反解算法加入到開源的Marlin固件程序中,設(shè)計(jì)出了桌面型關(guān)節(jié)機(jī)械手的控制系統(tǒng),實(shí)現(xiàn)了利用G代碼控制3自由度關(guān)節(jié)機(jī)械手的目的。該控制系統(tǒng)采用Pronterface作為上位機(jī),可以實(shí)現(xiàn)在線和離線控制。測(cè)試結(jié)果證明,采用這種直角坐標(biāo)與旋轉(zhuǎn)坐標(biāo)之間點(diǎn)對(duì)點(diǎn)變換的方法控制機(jī)械手,能使其軌跡正確、運(yùn)動(dòng)平穩(wěn),可靠性好。
[Abstract]:The open source Arduino Melzi circuit board is used as the control board, and the kinematics inverse solution algorithm of manipulator is added to the open source Marlin firmware program, and the control system of the desktop joint manipulator is designed. The purpose of using G code to control 3 DOF joint manipulator is realized. The control system uses Pronterface as the host computer and can be controlled on-line and off-line. The test results show that the method of point-to-point transformation between rectangular coordinate and rotation coordinate can make the manipulator track correct, stable and reliable.
【作者單位】： 南通理工學(xué)院機(jī)電工程學(xué)院;常州劉國鈞高等職業(yè)技術(shù)學(xué)校機(jī)電工程系;
【分類號(hào)】：TP241
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本文編號(hào)：2382527