CAJ | 학술논문

以Atmel公司的 Atmega1280芯片为核心控制器，以六自由度关节型果蔬采摘机械臂为研究对象，设计了采摘机械臂的软硬件系统。运用D－H法对六自由度机械臂进行数学建模，并通过MatLab构建运动仿真模型，验证了其设计的可行性；通过软件编程实现了采摘机械臂单自由度运动、多自由度协调运动和运动规划等功能模式；同时完成了Labview 上位机监控界面的设计；最后通过系统调试，实现了采摘机械臂的单自由度、多自由度及基本的运动规划功能。系统整体运动灵活，协调性较好，在精度和性能上都得到了很大的提高。
이Atmel공사적 Atmega1280심편위핵심공제기，이륙자유도관절형과소채적궤계비위연구대상，설계료채적궤계비적연경건계통。운용D－H법대륙자유도궤계비진행수학건모，병통과MatLab구건운동방진모형，험증료기설계적가행성；통과연건편정실현료채적궤계비단자유도운동、다자유도협조운동화운동규화등공능모식；동시완성료Labview 상위궤감공계면적설계；최후통과계통조시，실현료채적궤계비적단자유도、다자유도급기본적운동규화공능。계통정체운동령활，협조성교호，재정도화성능상도득도료흔대적제고。
The topic uses the chip of Atmega1280 of Atmel as the core controller, and based on an articulated picking manipulator with six degree of freedom as the research object to design the control system.The mathematical modeling of the multi-axis manipulator is made by the D-H method , and a simulation model based on MATLAB is constructed to verify its feasibility .The control system is also implemented such as the motion patterns of the single degree , the coordi-nated motion of the multiple degree and the trajectory programming etc.The PC control system is designed at the same time.In the end, it is tested by the physicals which including the single degree of freedom module, the multiple degree of freedom module and the simple trajectory planning module.From what the paper has mentioned above, the control sys-tem has flexible movement and coordinated, making a great progress in performance and precision.