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: s d r o w y e

K MRDS,Threedegreesoff reedommanipulator,Kinemaitcssimulaiton ,D-Ht heory.

t c a r t s b

A . Thesimulation platformwith threedegreesoffreedommechanica larmwiththreejoints e h t d e h s i l b a t s e , t c e j b o h c r a e s e r e h t s a d o r g n it c e n n o c r u o f f

o D-H model ,according to the known

m r a l a c i n a h c e m f o s c i t a m e n i k e s r e v e r d n a e v i t i s o p f o s t c e p s a o w t e h t m o r f y l e v it c e p s e r s n o i t i d n o c m r o f t a l p n o i t a l u m i s n o it o m m o d e e r f f o s e e r g e d e e r h t h ti w m r a t o b o r a t li u b y ll a n i F . d e z y l a n a e r a y l a n a e h t d n A . S D R M g n i s

u sisresults through the MATLAB too lto verify thecorrectnessof the , m r o f t a l p n o it a l u m i s s c it a m e n i k r o t a l u p i n a m a s a e l b i s a e f s i S D R M t a h t s w o h s d n a , s c i t a m e n i k e e r f f o e e r g e d e e r h t f o n o it a c i l p p a d n a h c r a e s e r s c it a m e n i k r o f s i s a b e c n e r e f e r s e d i v o r p h c i h

w dom

. S D R M r e d n u r o t a l u p i n a m n o it c u d o r t n I , l a c i n a h c e m s e t a r g e t n i h c i h w , ] 1 [ , y g o l o n h c e t n o it a c i l p p a e v i s n e h e r p m o c a s i y g o l o n h c e t t o b o R e c n e g i ll e t n i l a i c i f i t r a d n a r e t u p m o c , l o r t n o c c i t a m o t u a , c i n o r t c e l

e .

o m e h t s s e r p x e o t y a w a s i ] 2 [ n o i t a l u m i s t o b o r e h

T tion law and contro lmethod of the robot ,

e h t n i , t n e s e r p t A . t o b o r e h t f o e r u t c a f u n a m d n a n g i s e d e h t f o s s e r g o r p e h t e t a r e l e c c a n a c h c i h w d n a e s o p r u p l a r e n e g : s e p y t o w t o t n i d e d i v i d e b n a c e r a w t f o s n o i t a l u m i s e h t f o t s o m , s c i t o b o r f o d l e i f T . e p y t l a i c e p

s he genera lrobo tsimulation software is relaitvely famiilar with Matlab's robo t s ti t u b , g n o r t s d n a l a s r e v i n u y l n i a m s i t i . c t e , D A C t o b o R d n a s k r o W t o b o R , S M A D A , x o b l o o t f f e t n e m p o l e v e d s t i d n a , h g u o n e l a n o i s s e f o r p t o n s i t i , h g u o n e g n o r t s t o n s i e c n e n i t r e

p iciencyi sl ow .

y n a p m o c B B A , o r P m i S , y n a p m o c A K U K s e d u l c n i y l n i a m e r a w t f o s n o i t a l u m i s t o b o r l a i c e p s e h T . g n o r t s t o n s i y t i li b a t r o p e h t t u b , n o o s d n a t f o s o r c i M e h t n o t l i u b s i r o t a l u p i n a m m o d e e r f f o s e e r g e d e e r h t e h t f o m r o f t a l p n o i t o m e h T p o l e v e D s c i t o b o

R er Studio of Microsof tCorp (hereinafter referred to as MRDS) by Roboitcs . n i d e i l p p a y l e d i w n e e b s a h S D R M , t n e s e r p t A . y t i l a r e n e g g n o r t s s a h n o it a l u m i s t o b o r S D R M ,. c t e , s a x e T f o y t i s r e v i n U f o t s o v e r P n h o J s a h c u s , n o i t a l u m i s m e t s y s t o b o r f o s d n i k s u o i r a

v using

. k r o w r e t a w r e d n u s 't o b o r r e t a w r e d n u e t a l u m i s o t t n e m n o r i v n e n o i t a l u m i s S D R M t n e m u c o d n i , e l p m a x e r o F . a n i h C n i S D R M g n i s u n o i t a l u m i s t o b o r n o s e h c r a e s e r w e f e r a e r e h T s u p f o s s e c o r p e h t e t a l u m i s d n a S D R M n i t o b o r l a i r t s u d n i B B A p u t e s s r e h c r a e s e r ] 4

[ hing i tdown .

t o b o r e h t e n i f e d o t S R S M f o e s u e h t o t d e t a l e r s m e l b o r p e h t e b i r c s e d s r e h c r a e s e r ] 5 [ t n e m u c o d n I ] 6 [ e r u t a r e t i l n I . m e t s y s l o r t n o c n o i t a l u m i

s people have also done some research on how to use

d i o n a m u h r o f m r o f t a l p n o i t a l u m i s d l i u b o t S D R

M robo.t

y b d e h s i l b a t s e s i r o t a l u p i n a m m o d e e r f f o s e e r g e d e e r h t f o l e d o m l a c i t a m e h t a m a , t c e j o r p s i h t n I

D- [H 7and8]method .Thetrajectoryparametersofjoin tspaceandCartesian spaceareanalyzedand e s r e v n i d n a e v i t i s o p g n i t a l u c l a c y b d e t a l u c l a

c kinematicsparameters .Theapplicaiton ofMRDS in

f o t n e m p o l e v e d e h t g n i t o m o r p n i e l o r t n a c i f i n g i s a d e y a l p s a h n o i t a l u m i s t o b o r l a i r t s u d n i f o d l e i f e h t . a n i h C n i t n e m p i u q e t n e g i l l e t n i d n a y g o l o n h c e t t o b o r t f o s o r c i M f o e r u t c e ti h c r

A Robo tDevelopmen tPla ftor m

e r a w t f o S d e z il a r t n e c e D ( S S D s i p o t e h T . 1 e r u g i F n i n w o h s s i e r u t c e t i h c r a e m i t n u r s ' S D R M e h T e c i v r e s ) s e c i v r e

S created by users , which contains the following concurren tand coordinated d e z il a r t n e c e d , ) e m i t n u R n o i t a n i d r o o C d n a y c n e r r u c n o C , R C C ( n o i t a r e p

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t n e c e

D railzed , Software Services) and NET common language runtime (CLR4.0) running a .

] 4 [ t h g i e w t h g i l

1 e r u g i

F . Thearchitectureoft heMicrosof trobo tplatform. e

c i v r e s e h t s b r o s b a t a h t y r a r b i l e c i v r e s t h g i e w t h g i l a s i S S

D architectureofweb .I tisaservice

-s e i l p p a d n a , s l e d o m n o i t a c i l p p a l a n o i t i d a r t e h t m o r f t n e r e f f i d s i h c i h w , l e d o m n o it a c i l p p a d e t n e i r o

s i h T . t n e n o p m o c m a r g o r p e n o f o d e s o p m o c s n o i t a c il p p a d e t u b i r t s i d o t s n o i t a c il p p a l a n o i t i d a r t

t s u j s i t n e n o p m o c m a r g o r

p likeevery service provided by differen tserverson thenetwork .I t ilsts .

k r o w t e n e h t n o d e d e e n s e c i v r e s e h t s t c e n n o c d n a t s il e c i v r e s s ' n o it a c i l p p a e h t

d n a g n i d a e r h t i t l u m g n i l d n a h r o f k r o w e m a r f T E N . e h t n o t l i u b y r a r b il s s a l c c i s a b a s i R C C

e s u o n o r h c n y s

a vents .This isthelibrary of theapplication developer in the process of writing an n o it a z i n o r h c n y s r e h t o r o s e x e t u m , s k c o l d n a s d a e r h t f o n o i t a l u p i n a m t c e r i d e h t d i o v a o t n o it a c i l p p a

s r o r r e h c t a c r o s t n e m e l

e . Consideringt heapplicationresponseabiltiy,scalabilityandfaultt olerance, s

’ t

i convenien tfort heapplicationdevelopert owritet heasynchronousprocess.

s n u r S D R M . k r o w e m a r f T E N e h t o t e c a f r e t n i n a s e d i v o r p d n a s n o i t a r e p o c i s a b o w t s t r o p p u s R L C

l o n h c e t y e k o w t e h t s e s u h c i h w , 0 . 4 R L C f o p o t n

o ogiesofDSSandCCRt obuildt hecoreobjec tof

S D R

M - service.

c it a m e n i

K Analy is so fa ThreeDegreeo fFreedomManipulator

e h t p u t e s o t y ti l a e r n i m r o f m r a l a c i n a h c e m n o m m o c e h t s e n i b m o c m r o f t a l p n o i t a l u m i s e h T

m r o f s 'r o t a l u p i n a

m withfourlinksandthreejoints in ordertoreasonablyse tuptheconnectingrod e e r h t l l a e r a r o t a l u p i n a m d e t c u r t s n o c e h t f o s t n i o j e e r h t e h T . r o t a l u p i n a m e h t f o d o h t e m t n i o j d n a

f o m a r g a i d s i s y l a n a e h t s i g n i w o l l o f e h T . t n i o j g n i t a t o r e h t f o m s i n a h c e m ) R 3 ( m o d e e r f f o s e e r g e d

D r o t a l u p i n a m m o d e e r f f o e e r g e d e e r h t e h t d n a r o t a l u p i n a m R 3 e h

t -Hparametert able.

2 e r u g i

F . Structurediagramoft hreedegreeoffreedommanipulatorandconnectingrodcoordinatesystem.

1 e l b a

T . D-Hparametert ableoft hreedegreeoffreedommanipulator.

i αi1 ai1 θi di

1 0 0 0 0

2 - 09 0.190 - 09 0

3 0 0.272 9 0 0

) T (

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: 1 e l b a

T irepresentsthejointi oraxisii−1 representstheangleofrotationfromtheshaftzi−1 to

e l x a e h

t zi ;ai−1represents the distance from axiszi−1 to shaftzi measured on the shaftxi−1 (ai−1

d o r g n i t c e n n o c e h t f o h t g n e l e h t s t n e s e r p e

r i−1);di representsthedistancemeasuredfromtheshaft

1

i

x to theshaftxi along theshaftzi ,andθirepresentstheangle ofrotationzi from theshaftxi−1 to

t f a h s e h

t xi.

a l u m r o f e h t o t n i t h g u o r b s i r o t a l u p i n a m e e r f e e r h t e h t f o n o i t a r e p o n o i t o m d r a w r o f e h

T TT TT23TT3T

1 2 0 1 0 =

g n i d n o p s e r r o c e h t t e g o t d o r g n i t c e n n o c o w t t n e c a j d a e h t f o x i r t a m e g n a h c e h t g n i v l o s y b

v it a l e r e h t n i d e b i r c s e d s r e t e m a r a

p ebasecoordinatesystem {0}ofthetoo lcoordinatesystem{T} . e h t y b s e l g n a t n i o j e h t d n i f n a c e w , n w o n k e r a s i s y l a n a n o i t o m e s r e v e r e h t f o s e u l a v e h t n e h W

. s n o i t a u q e g n i w o l l o f

T

T0 � �

n1x 0x ax px

ny 0y ay py

nz 0z az pz

0 0 0 1

�� 10T(θ1)21T�θ2�32T�θ3�T2T

f o y r o e h t e h t , s u h

T forwardandreversekinemaitcsi sanalyzed.

n o it a l u m i

S Pla ftormConstrucitonof ThreeDegreeo fFreedomManipulator n

o it a l u m i

S Pla ftormArchtiectureo fThreeDegreeo fFreedomManipulator

s e h t d n a , s e c i v r e s c i s a b e v i f f o p u e d a m s i m r o f t a l p n o i t a l u m i s e h

T imulaiton serviceisstarted by

d n a , s t c e j b o y t i t n e l a t n e m n o r i v n e d n a s t c e j b o m r a t o b o r f o n o i t a e r c e h t s e t e l p m o c t I . n o i t a l u m i S

. e n i g n e n o i t a l u m i s e h t o t n i m e h t s t r e s n i

3 e r u g i

F .Architectureofsimulationplatformformanipulator. )

1 ( : s n o it c n u f e c i v r e

S Dashboard operation pane lservice :i tismainly used to build theinterface n

a m e h t n e e w t e

b -machinei nteractionoft hemanipulator.

r o t a r e p o e h t f o n o i t a n i d r o o c e h t r o f e l b i s n o p s e r y l n i a m : s e c i v r e s y r a i d e m r e t n i n o i t a r t s e h c r O ) 2 (

u q e r e h t t u o d n e s o t l e n a

p es tto the manipulator end effector motion planning services ,services , e h t o t k c a b d e e f e h t m o r f n o i t a m r o f n i e h t g n i s s a p f o e c i v r e s e h t d n a , s e c i v r e s m r o f t a l p e l i b o m

. s e c i v r e s y r a i d e m r e t n i f o e l o r a g n i y a l p , l e n a p n o i t a r e p o

g d u j : e c i v r e s g n i n n a l P n o i t o M ) 3

( ing by the idenitfication of the poin tand data ofdriving type t

a h t m r a l a c i n a h c e m n e v i r d m o r

f operaiton panel sends,usethe Transformation serviceto operate e

h t f o n o i t a l u c l a c e h

t forward and inverse mechanica larm kinematics and then the trajectory is .

r o t a l u p i n a m e h t f o e c i v r e s e h t o t d e y e v n o c s i y r o t c e j a r t d e n n a l p e h t d n a , d e n n a l p y l p m i s

m r a l a c i n a h c e m d n a y t i t n e k n i l g n i t c u r t s n o c : e c i v r e s y t i t n e m r a l a c i n a h c e m 3 R B L d e t a l u m i S ) 4 (

s e l b a i r a v t n i o j m r a r o t a l u p i n a m f o g n il d n a h e h t g n i t e l p m o c d n a , y t i t n

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l a c i n a h c e

M A r Mm ode lBuliding e

h

T Ba iscPhy iscal Shape i n MRDS .The MRDS simulation engine isdeveloped based on l a c i s y h p f o n o i t a l u m i s e h t n i S D R M f o n o i s s e r p x e e h t d n a , y g o l o n h c e t e n i g n e s c i s y h p x s y h P

, e l u s p a c d e p a h s x o b : g n i d u l c n i y l n i a m , e p a h s l a c i s y h p c i s a b e m o s f o d e s o p m o c s i e c n a r a e p p a

h s c s i d , l a c i r e h p s , d e p a h

s apedandsoon.Thecomplexshapeismostly bythecombinationofbasic o t t l u c i f f i d y r e v s ’ t i , s e s u o h d n a s e e r t , n i a r r e t s a h c u s s e p a h s r a l u g e r r i l a i c e p s e m o s r o f t u B . s e p a h s

y l t c e r i d o t s r e s u s w o l l a S D R M , s e p a h s e s e h t r o f , y l r a e l c s e p a h s c i s a b e s e h t e s

u impor tCADmodels

D 3 r e h t o y b t l i u

b software into MRDS environment .MRDS allowsusers to directly impor tCAD d e t a e r c y l l a u s u e r a s l e d o m D A C e s e h T . t n e m n o r i v n e S D R M o t n i e r a w t f o s D 3 r e h t o y b t li u b s l e d o m

. s e s s a l c h s e m x e v n o c r o h s e m r a l u g n a i r t y b

e e r h t e h

T degreeoffreedom manipulatormode lconstructed in thissystem iscomposed oftwo d o r g n i t c e n n o c e h t g n it c e n n o c d n a d o r g n i t c e n n o c e h t g n it a e r c y B . d o r g n i t c e n n o c d n a t n i o j : s t r a p

D R M e h t n I . d e m r o f s i r o t a l u p i n a m e h t f o l e d o m c i t a m e n i k e h t , t n i o j e h t h t i

w S ,aconnecitng rod

d n a , m r a l a c i n a h c e m e h t t c u r t s n o c o t d e s u e r a t n i o j d n a d o r g n i t c e n n o c e h t n e h t d n a , d e t a e r c s i s s a l c

. d e t a e r c s i S D R M e h t n i r o t a l u p i n a m e h t f o s c i t a m e n i k e h t f o l e d o m l a c i s y h p e h t

4 e r u g i

F . Thephysica lmode loft hemanipulatori nMRDS

ManipulatorG r Mid odel .In thesimulationenvironment ,everyentity isassociatedwithagrid . e p a h s e u r t e h t s e s s e r p x e y t i t n e e h t d n a , y t i t n e e h t f o t n e m r a g r e t u o e h t o t t n e l a v i u q e s i d i r g e h T

t s u m s e i t i t n e , g n i k a e p s y l t c i r t S . e g a m i d i r g e h t h g u o r h

t berelatedto grid models ,bu twhen dealing

d n a c i t s il a e r e r o m k o o l s e i t i t n e t a h t o s , s l e d o m h s e m e s u o t r e t t e b s i t i , n o i t a l u m i s x e l p m o c h t i w

. e v it c e f f e

t n e m n o r i v n e n o it a l u m i s S D R M e h T . e r a w t f o s g n i w a r d D 3 e h t y b d e t a e r c e b n a c l e d o m d i r g e h T

e h t s t r o p p u

s impor tofgridmodelsi nOBJandBOSformats .OBJi sacommonforma tforanobjec t e

e r h t a n i l e d o

m -dimensiona l game , and BOS is a binary file type . When the simulation t

r e v n o c y l l a c i t a m o t u a o s l a l l i w f l e s t i S D R M . t s a f s i d e e p s e h t , d e d a o l s i t n e m n o r i v n

e OBJforma t

. e r a w t f o s D 3 h ti w y l t c e r i d d e t a e r c t o n y l l a r e n e g s i t a m r o f S O B e h t t u b , g n i d a o l r o f t a m r o f S O B o t n i

o s d n a o n i h R , E / o r P , a y a M , X A M D 3 e r a t a m r o f J B O t r o p x e y l t c e r i d n a c t a h t s e r a w t f o s D 3 e h T

s r u o y b l e d o m e h t n g i s e d n a c e w , m r a l a c i n a h c e m r o F . n

o elves ,orwecanuseotherCADmodelsi n

e h t n i m e h t t u p d n a , e r a w t f o s o n i h R h g u o r h t s l e d o m t a m r o f J B O o t n i m r o f s n a r t o t s t a m r o f r e h t o

e r o t

s \mediadirectoryofMRDSi nstallationpathforprogramcalls.

5 e r u g i

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n o it a l u m i

S Veriifca itono fThreeDegreeo fFreedomManipulator

e h t , s t n i o p l a i c e p s e m o s f o t u p n i e h t h g u o r h T , r o t a l u p i n a m m o d e e r f f o s e e r g e d e e r h t f o n o i t a l u m i S

e h t h g u o r h t d e t a l u c l a c s i e u l a v d r a w r o f e h T . t u o d e i r r a c s i r o t a l u p i n a m e h t f o n o i t a r e p o e s r e v e r

d e t a l u c l a

c anglevalue ,and thefeasibliityofthekinematicssimulation isverifiedbycomparingthe e t a t s r o t a l u p i n a m , 2 8 6 . 0 = Z , 9 3 3 . 0 = Y , 9 3 3 . 0 = X t u p n I . e u l a v t u p n i l a i ti n i e h t h t i w e r u g i f n o i t a l u m i s

m r o f t a l p e h t f o s s e n t c e r r o c e h t y f i r e v d n a , 6 e r u g i F n i n w o h s s

a constructedwiththemorphologica l

n o i t a l u m i s a s a S D R M f o y t il i b i s a e f e h t y f i r e v r e h t r u f o t d n A . b a lt a M n i r o t a l u p i n a m e h t f o s i s a b

. 7 e r u g i F n i n w o h s s a , s t c e j b o y r r a c o t k s a t c i f i c e p s a g n i t e l p m o c y b s t o b o r l a i r t s u d n i r o f m r o f t a l p

s e v o r p t n e m i r e p x e e h

T tha tthe simulaiton system can accompilsh the successfu lcapture and .

s t c e j b o f o g n i d r a c s i d c i t a m o t u a

(a ) (b) S

D R M n i e r u t s o p m r a l a c i n a h c e m ) a ( . 6 e r u g i

F (b)mechanica larmposturei nMatlab.

e n e c s S D R M 6 e r u g i F n i r o t a l u p i n a m f o n o i t a c i f i r e v e d u t i t t A

7 e r u g i

F . Threedegreeoffreedommanipulatorhandlingobjects.

Conclu ison

r o t a l u p i n a m m o d e e r f f o s e e r g e d e e r h t f o m r o f t a l p n o i t a l u m i s a , r e p a p s i h t n

I isconstructedwiththe

t o b o r S D R M f o m r o f t a l p t n e m p o l e v e

d .On the simulaiton platform ,the results of the kinematics e r a s i s y l a n a c i t a m e n i k f o s tl u s e r e h T . e m it l a e r n i d e i f i r e v e r a r o t a l u p i n a m d e n i a t b o e h t f o s i s y l a n a

t l u s e r n o i t a l u m i s e h t h t i w t n e t s i s n o

c s ,which verifythefeasibility ofMRDSforthedevelopmen tof d n a h c r a e s e r r e h t r u f r o f e c n e r e f e r a e d i v o r p d n a , t o b o r m o d e e r f f o e e r g e d e e r h t l a i r t s u d n i

. S D R M h t i w t n e m p i u q e t n e g il l e t n i d n a t o b o r f o t n e m p o l e v e d

e c n e r e f e

R s

] 1

[ JohnJ. Craig .Introductiont oRobotics[M] .BeiJing :MachineryIndustryPress ,2006 . ]

2

[ W ga n Wei ,WANGRongchuan ,Zh ouWenxian , u Y Haiwu, Researchonkeyt echnologyofrobo t m

e t s y s n o i t a r e p o l a u t r i v e n i l n o i t c u d o r

p [ J]. Journa lof Hefe iUniversity of Technology ( aN tura l e

c n e i c

(6)

t s o v e r P n h o J ] 3

[ ,J .Prevost ,A .Joordens .SimulaitonofUnderwaterRobotsusingMSRobo tStudio s

m e t s y S f o m e t s y S n o e c n e r e f n o C l a n o i t a n r e t n I E E E I . 8 0 0

2 Engineering ,TexasUniversity ,2008.3 :

0 4 3 - 43 . 4

4

[ ] . J Denavit , .S. R Hartenberg . A Kinemat i Nation for Lower Pair Mechanisms Based on ]

J [ s e c i r t a

References

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