基于CPAC与单目摄像的六自由度机械臂控制模式研究

为解决一般六自由度工业度机械臂的控制器存在的兼容性低、人机界面单一且编程语言差异大的不足,提出一种基于CPAC(Computerized Programmable Automation Controller计算机可编程自动化控制器)控制机械臂的方式,以六自由度机械臂为实验平台,利用CPAC控制器的人机界面中三点法建立与摄像机一致的世界坐标系,通过Harris角点匹配与PnP法获取目标的位姿信息,利用CPAC编程语言OtoStudio的函数库解算各个关节轴转动的角度,并利用“最短行程”加权获得关节轴的最优角度,最终驱动机械臂末端执行器可靠动作并到达目标点,完成预设动作。通过实验可以看出,与一般的控制器相比较,CPAC具有可靠的I/O控制、编程环境标准、人机界面丰富友好的特点,并验证了这种控制模式的可行性,实现了对六自由度机械臂的联合控制,为六自由度机械臂的实时控制模式提供了新的思路。

Research on control mode of six degree of freedom manipulator based on CPAC control

For the shortcomings of the controller to solve the general six degree of freedom industrial manipulator compatibility, low man-machine interface and single programming language differences, based on CPAC (Computerized Programmable Automation Controller) to control the mechanical arm, with six degrees of freedom manipulator as the experimental platform, and set up the camera the same world coordinate system by using three point CPAC controller in the man-machine interface, through the Harris corner matching pose information and PnP method to obtain the target, using the CPAC programming language function library of OtoStudio solution of each joint rotation angle, and using the shortest distance weighted to obtain the optimal angle of the joint axis, end the driving end effector and reliable action to reach the target, to complete the default action. Experimental results show that compared with the general CPAC controller has the characteristics of reliable I/O control, programming environment standard, rich human-machine interface friendly, and verify the feasibility of this control mode, to realize the joint control of the robot arm with six degrees of freedom, six from the real-time control mode of mechanical arm provides new ideas.