基于dSPACE的工业机器人运动控制系统仿真分析及实验

针对用ER20-1700机械臂实现运动控制,提出了一种有效的控制方法;首先对ER20-1700机器人的三维建模进行运动学分析建立DH参数表算出机器人的逆解,再把SolidWorks中的三维模型用插件导入Simulink中快速搭建机械控制模型,然后搭建并改良电机驱动物理模型,补全整个控制模型,实现机械臂Simscape正逆解仿真;把算好的逆解用编程的方式写入MATLAB中用robotics tool中进行仿真模拟,并将其与Simulink中的仿真结果进行对比;通过编写函数程序在MATLAB中实现机械臂走直线和画圆的轨迹规划;通过搭建实验平台,使用dSPACE作为控制器把之前的控制模型转化为代码导入其中以实现机械臂的快速控制,控制机器人做直线和画圆运动,记录轨迹规划和实际机械臂所走的数据导入MATLAB绘制成图;实验结果表明:走直线和走圆时,最大跟踪误差小于3 mm,控制方法可行有效。

Simulation Analysis and Experiment of Industrial Robot Motion Control System Based on dSPACE

An effective control method is proposed for ER20-1700 manipulator to realize motion control. Firstly, DH parameter table was established to calculate the inverse solution of the robot through kinematic analysis of the Three-Dimensional modeling of ER20-1700 robot. Then, the three-dimensional model in SolidWorks was imported into Simulink with plug-ins to quickly build the mechanical control model. Then, the physical model driven by motor was built and improved to complete the whole control model, and the positive and inverse solution simulation of the robotic arm Simscape was realized.The calculated inverse solution was programmed into MATLAB and simulated in robotics Tool, and the simulation results were compared with those in Simulink. By writing function program in MATLAB,the manipulator to walk straight line and draw a circle trajectory planning was achieved. By building an experimental platform and using dSPACE as a controller, the previous control model was converted into code and imported into it to realize the rapid control of the robot arm. The robot was controlled to make straight lines and draw circles, and the trajectory planning was recorded and the data of the actual robot arm was imported into MATLAB to be drawn. The experimental results show that the maximum tracking error is less than 3 mm when walking in a straight line and a circle, and the control method is feasible and effective.