CN112338903A - Mechanical arm control method based on model design - Google Patents
Mechanical arm control method based on model design Download PDFInfo
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- CN112338903A CN112338903A CN202011132242.8A CN202011132242A CN112338903A CN 112338903 A CN112338903 A CN 112338903A CN 202011132242 A CN202011132242 A CN 202011132242A CN 112338903 A CN112338903 A CN 112338903A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a mechanical arm control method based on model design, which is implemented according to the following steps: according to the purpose and the function of the mechanical arm, using SOLIDWORK software to design a three-dimensional model of the mechanical arm to obtain a CAD file; configuring and exporting a URDF file to the obtained mechanical arm CAD file, importing the file into GAZEBO software in an ROS system to obtain a robot model, and importing a SIMULIKN module in MATLAB software to obtain the robot model; performing motion planning verification on the obtained robot model in the GAZEBO software by using RVIZ software to verify the correctness of the robot model, performing motion planning verification on the obtained SIMULINK robot model by using SIMULINK design mechanical arm motion planning verification model in MATLAB software to verify the correctness of the robot model, and finally verifying the correctness of the semi-physical simulation model by using a MATLAB and ROS combined simulation model designed in MATLAB software; and the test kinematics trajectory planning of the physical prototype is realized, the reliability of the physical prototype is verified, and the control of the mechanical arm is completed. The problem of easily making mistakes among the prior art and leading to development and debugging repeatedly is solved.
Description
Technical Field
The invention belongs to the technical field of robot development, and relates to a mechanical arm control method based on model design.
Background
The mechanical arm is a branch of the robot, and along with the development of the times, the mechanical arm which is widely applied in industrial scenes is gradually applied to various life scenes and serves as a multipurpose service type robot, so that more convenience is provided for the life of human beings. The mechanical arm has wide market prospect, has the characteristics of application diversification and application rapidness, brings many challenges while being developed vigorously, and puts higher requirements on the traditional design development and application process.
In the traditional development and design, firstly, mathematical model simulation research is generally carried out in SIMULINK software of MATLAB, correctness verification is carried out on a control algorithm, when a simulation result is consistent with design requirements, the algorithm is changed into C language codes, and the steps of programming, compiling, debugging and the like are completed on hardware equipment by combining a bottom driver of the hardware equipment.
The traditional design and development process has many problems, the development process is too complicated, the development period is too long, mistakes are easy to make, development and repeated debugging are caused, and the specific problems are mainly reflected in the following aspects.
Disclosure of Invention
The invention aims to provide a mechanical arm control method based on model design, which solves the problem of development and repeated debugging caused by easy error in the prior art.
The technical scheme adopted by the invention is that the mechanical arm control method based on model design is implemented according to the following steps:
step 3, in the model verification stage, RVIZ software is used for carrying out motion planning verification on the robot model in the GAZEBO software obtained in the step 2, SIMULINK in MATLAB software is used for designing a mechanical arm motion planning verification model, the SIMULINK robot model obtained in the step 2 is used for carrying out motion planning verification on the robot model, and finally, a MATLAB and ROS combined simulation model designed in MATLAB software is used for verifying the correctness of the semi-physical simulation model;
and 4, realizing test kinematic trajectory planning of the physical prototype, verifying the reliability of the physical prototype, and finishing mechanical arm control.
The invention is also characterized in that:
the step 1 is implemented according to the following steps:
step 1.1, according to the purpose and the functional requirements of the mechanical arm, a three-dimensional model CAD file of the mechanical arm is designed through SOLIDWORK software, a driver selects a bus steering engine, a processor selects a DSP controller, the processor has a simulation model in a SIMULINK library and is strong in performance, and a sensor is selected according to the function of the mechanical arm;
and step 1.2, according to the mechanical arm designed in the step 1.1, printing out external accessories of the mechanical arm by using a 3D printer, and assembling by using the driver, the processor and the sensor in the step 1.1 to obtain a required physical model machine.
The step 2 is implemented according to the following steps:
step 2.1, exporting a URDF file according to the CAD model of the mechanical arm designed in the step 1.1, modifying the URDF file, establishing a LAUNCH starting file by utilizing the exported URDF file, importing GAZEBO software of an ROS system, and establishing a GAZEBO simulation model of the mechanical arm;
and 2.2, importing the URDF file exported in the step 2.1 into MATLAB software to build a SIMULINK mechanical arm simulation model of the mechanical arm.
Step 3 is specifically implemented according to the following steps:
3.1, importing the URDF file in the step 2.1 into RVIZ software of an ROS system, building an RVIZ simulation model of a mechanical arm, starting a LAUNCH starting file in the step 2.1 to verify the correctness of the simulation model in the ROS system, and verifying a kinematic trajectory planning model of a robot model in the RVIZ software by using a motion frame MOVEIT;
3.2, designing a SIMULINK controller to build a mechanical arm kinematic trajectory planning verification model and feedforward control and PID control strategies in a controller in the control system according to the mechanical arm SIMULINK model built in the step 2.2, adjusting all parameters of the control system, verifying the correctness of the SIMULINK model, reserving a controller module interface verification control algorithm, and facilitating later algorithm improvement and verification;
and 3.3, performing MATLAB and ROS combined simulation, verifying the correctness of the model by comparing the mechanical arm models in the steps 3.1 and 3.2, in order to further determine the reliability of the designed control system, controlling the robot model in the ROS environment by using a controller in the MATLAB, testing by using the robot model in the ROS environment to replace a physical prototype model, verifying the feasibility of realizing semi-physical simulation by using the MATLAB and ROS combined simulation, and finally performing software and hardware combined simulation after debugging is correct.
Step 4 is specifically implemented as follows: under the condition that the MATLAB and ROS combined simulation model is verified to be correct, the MATLAB and ROS combined simulation model in the step 3.3 is utilized, and an MATLAB controller in the MATLAB combined simulation model is utilized to control a physical prototype carrying an ROS control system, so that software and hardware simulation is realized; and then automatically generating C codes by the controller part in the simulation model, debugging software and hardware of the mechanical arm control system, compiling and debugging the C codes and the bottom layer driving codes of the mechanical arm physical prototype, optimizing system debugging and finishing control of the mechanical arm.
The invention has the beneficial effects that: the invention relates to a mechanical arm control method based on model design, which solves the problem of development and repeated debugging caused by easy error in the prior art. On the basis of model design and development, MATLAB and ROS combined simulation are introduced, an ROS robot model is used for replacing a physical prototype, a core algorithm in the MATLAB and the idea of the robot model combined simulation in the ROS are adopted, semi-physical simulation independent of the physical prototype is realized, convenience is provided for robot development, and a large amount of cost is saved. And the MATLAB model is adopted to control the development method of the entity robot carrying the ROS system, so that the rapid development of the algorithm is realized. By adopting the method based on model design and development, a software and hardware combined simulation model of the mechanical arm control system is established, the kinematics trajectory planning of the robot is verified, the development mode of software and hardware separation in the traditional development process of the mechanical arm is overcome, and the development cost and the required time are greatly reduced. The motion effect of the mechanical arm can be directly seen by using SIMULINK simulation, the design of the controller is combined with visual simulation, and graphical programming is adopted, so that the programming process is simplified, the design of the controller can be rapidly realized, the experiment cost is reduced, and the experiment safety is improved. The method can be applied to the research and application of various control system robots, and has good application prospect.
Drawings
FIG. 1 is a flow chart of a method of controlling a robotic arm based on model design in accordance with the present invention;
FIG. 2 is a CAD three-dimensional model image in SOLIDWORK software of a robot arm control method based on model design according to the present invention;
FIG. 3 is an image of a CAD three-dimensional model of a manipulator according to the present invention configured using a SW2URDFSETUP plug-in for exporting a URDF file in SOLIDWORK software in a model design-based manipulator control method according to the present invention;
FIG. 4 is a GAZEBO software visualized simulation model image in the mechanical arm control method based on model design;
FIG. 5 is a SIMULIKN simulation model image in the mechanical arm control method based on model design according to the present invention;
FIG. 6 is a visual simulation model image of the SIMULINK simulation model in the mechanical arm control method based on model design according to the present invention;
FIG. 7 is an image of a kinematic trajectory planning verification of a robot arm model in the present invention using a MOVEIT kinematic frame in a robot arm control method based on model design;
FIG. 8 is an image of a SIMULINK mechanical arm kinematic trajectory planning verification model built in the mechanical arm control method based on model design according to the present invention;
FIG. 9 is a tracking curve comparison image of a SIMULIKN mechanical arm kinematics trajectory planning verification model for joint angle trajectory tracking verification in a mechanical arm control method based on model design according to the present invention;
FIG. 10 is a block diagram of the ROS tool box in the SIMULINK model library of MATLAB software in a robot arm control method based on model design according to the present invention;
FIG. 11 is an image of a model for testing the reliability of the control system through MATLAB and ROS joint simulation, which is built in the mechanical arm control method based on model design according to the present invention;
fig. 12 is a tracking curve comparison image for verifying the tracking verification of the terminal position trajectory by the model of the MATLAB and ROS joint simulation built in the model design-based mechanical arm control method of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a mechanical arm control method based on model design, which is implemented according to the following steps as shown in figure 1:
the step 1 is implemented according to the following steps:
step 1.1, according to the purpose and the functional requirement of the mechanical arm, a three-dimensional model CAD file of the mechanical arm is designed through SOLIDWORK software, as shown in figure 2, and the hardware selection of the robot is determined, mainly the selection of a driver, a processor and a sensor. Generally, a driver selects a bus steering engine, a processor selects a DSP controller, the processor has a simulation model in a SIMULINK library and has strong performance, and a sensor is selected according to the function of the mechanical arm as required;
and step 1.2, according to the mechanical arm designed in the step 1.1, printing out external accessories of the mechanical arm by using a 3D printer, and assembling by using the driver, the processor and the sensor in the step 1.1 to obtain a required physical model machine.
the step 2 is implemented according to the following steps:
step 2.1, derive the URDF file from the CAD model of the arm designed in step 1.1 using the SW2URDFSETUP plug-in, as shown in fig. 3. According to the requirements, the URDF file is modified, the exported URDF file is used for establishing a LAUNCH starting file, GAZEBO software of the ROS system is imported, and a GAZEBO simulation model of the mechanical arm is established; the simulation model is shown in FIG. 4;
and 2.2, importing the URDF file exported in the step 2.1 into MATLAB software to build a SIMULINK mechanical arm simulation model of the mechanical arm. The simulation model is shown in fig. 5, and then a visual image of the SIMULINK simulation model is displayed through simulation, as shown in fig. 6;
step 3, in the model verification stage, RVIZ software is used for carrying out motion planning verification on the robot model in the GAZEBO software obtained in the step 2, SIMULINK in MATLAB software is used for designing a mechanical arm motion planning verification model, the SIMULINK robot model obtained in the step 2 is used for carrying out motion planning verification on the robot model, and finally, a MATLAB and ROS combined simulation model designed in MATLAB software is used for verifying the correctness of the semi-physical simulation model;
step 3 is specifically implemented according to the following steps:
3.1, importing the URDF file in the step 2.1 into RVIZ software of an ROS system, building an RVIZ simulation model of a mechanical arm, starting a LAUNCH starting file in the step 2.1 to verify the correctness of the simulation model in the ROS system, and verifying a kinematic trajectory planning model of a robot model in the RVIZ software by using a motion frame MOVEIT; the verification process is shown in FIG. 7;
3.2, designing a SIMULINK controller to build a mechanical arm kinematic trajectory planning verification model and feedforward control and PID control strategies in a controller in the control system according to the mechanical arm SIMULINK model built in the step 2.2, adjusting all parameters of the control system, verifying the correctness of the SIMULINK model, reserving a controller module interface verification control algorithm, and facilitating later algorithm improvement and verification; the built model is shown in fig. 8, in order to verify the correctness of the SIMULINK kinematic model, verification simulation is carried out, a tracking curve of the kinematic trajectory planning verification model for joint angle trajectory tracking verification can be obtained, as shown in fig. 9, through comparison of input signals and output signals, the kinematic trajectory planning tracking error is small, the correctness of the model is verified, a controller module interface verification control algorithm is reserved, and later-stage algorithm improvement and verification are facilitated.
Step 3.3, next MATLAB and ROS joint simulation is carried out, and next step, ROS toolbox in MATLAB software is used, as shown in FIG. 10. And (3) verifying the correctness of the model by comparing the mechanical arm models in the steps 3.1 and 3.2, in order to further determine the reliability of the designed control system, controlling the robot model in the ROS environment by using a controller in the MATLAB, testing by using the robot model in the ROS environment to replace a physical prototype model, verifying the feasibility of realizing semi-physical simulation by the MATLAB and ROS combined simulation, and finally performing software and hardware combined simulation after debugging is correct. The communication module shown in fig. 10 is used for building a model for testing the reliability of the control system, the model is shown in fig. 11, the model is subjected to simulation test, a tracking curve comparison graph of the model for tracking and verifying the track of the tail end position can be obtained, as shown in fig. 12, a little error fluctuation exists due to poor communication real-time performance in the initial simulation stage, the error is negligible, the curve tracking error is small, the feasibility of combined simulation by using MATLAB and ROS and the reliability of the mechanical arm model are further verified, debugging is performed next, and finally, software and hardware combined simulation is performed after the debugging is correct.
And 4, realizing test kinematic trajectory planning of the physical prototype, verifying the reliability of the physical prototype, and finishing mechanical arm control.
Step 4 is specifically implemented as follows: under the condition that the MATLAB and ROS combined simulation model is verified to be correct, the MATLAB and ROS combined simulation model in the step 3.3 is utilized, and an MATLAB controller in the MATLAB combined simulation model is utilized to control a physical prototype carrying an ROS control system, so that software and hardware simulation is realized; and then automatically generating C codes by the controller part in the simulation model, debugging software and hardware of the mechanical arm control system, compiling and debugging the C codes and the bottom layer driving codes of the mechanical arm physical prototype, optimizing system debugging and finishing control of the mechanical arm.
The invention relates to a mechanical arm control system in a mechanical arm control method based on model design, which comprises the following steps:
the mechanical arm three-dimensional CAD model capable of being flexibly and modularly designed and built comprises an external structure, a processor driver, a sensor, a URDF file derived according to the three-dimensional model, a robot model in an ROS simulation environment, and a physical prototype assembled according to hardware equipment;
the method comprises the following steps of constructing a mechanical arm kinematics track planning and verifying model according to a mechanical arm three-dimensional model, wherein the model comprises an input signal processing module, a controller module, a physical model simulation module, an output signal processing module and a simulation observer module;
the MATLAB and ROS system combined simulation semi-physical simulation model comprises an input signal processing module, a controller module, an ROS communication input module, an ROS communication output module, an output signal processing module and a simulation observer module.
The invention relates to a mechanical arm control method based on model design, which solves the problem of development and repeated debugging caused by easy error in the prior art. On the basis of model design and development, MATLAB and ROS combined simulation are introduced, an ROS robot model is used for replacing a physical prototype, a core algorithm in the MATLAB and the idea of the robot model combined simulation in the ROS are adopted, semi-physical simulation independent of the physical prototype is realized, convenience is provided for robot development, and a large amount of cost is saved. And the MATLAB model is adopted to control the development method of the entity robot carrying the ROS system, so that the rapid development of the algorithm is realized. By adopting the method based on model design and development, a software and hardware combined simulation model of the mechanical arm control system is established, the kinematics trajectory planning of the robot is verified, the development mode of software and hardware separation in the traditional development process of the mechanical arm is overcome, and the development cost and the required time are greatly reduced. The motion effect of the mechanical arm can be directly seen by using SIMULINK simulation, the design of the controller is combined with visual simulation, and graphical programming is adopted, so that the programming process is simplified, the design of the controller can be rapidly realized, the experiment cost is reduced, and the experiment safety is improved. The method can be applied to the research and application of various control system robots, and has good application prospect.
Claims (5)
1. The invention relates to a mechanical arm control method based on model design, which is characterized by comprising the following steps:
step 1, in a model design stage, according to the purpose and the function of the mechanical arm, three-dimensional model design is carried out on the mechanical arm by SOLIDWORK software to obtain a CAD file;
step 2, in a model export stage, configuring and exporting a URDF file to the mechanical arm CAD file obtained in the step 1, importing the file into GAZEBO software in an ROS system to obtain a robot model, and importing a SIMULIKN module in MATLAB software to obtain the robot model;
step 3, in the model verification stage, RVIZ software is used for carrying out motion planning verification on the robot model in the GAZEBO software obtained in the step 2, SIMULINK in MATLAB software is used for designing a mechanical arm motion planning verification model, the SIMULINK robot model obtained in the step 2 is used for carrying out motion planning verification on the robot model, and finally, a MATLAB and ROS combined simulation model designed in MATLAB software is used for verifying the correctness of the semi-physical simulation model;
and 4, realizing test kinematic trajectory planning of the physical prototype, verifying the reliability of the physical prototype, and finishing mechanical arm control.
2. The invention relates to a mechanical arm control method based on model design, which is characterized in that the step 1 is implemented according to the following steps:
step 1.1, according to the purpose and the functional requirements of the mechanical arm, a three-dimensional model CAD file of the mechanical arm is designed through SOLIDWORK software, a driver selects a bus steering engine, a processor selects a DSP controller, the processor has a simulation model in a SIMULINK library and is strong in performance, and a sensor is selected according to the function of the mechanical arm;
and step 1.2, according to the mechanical arm designed in the step 1.1, printing out external accessories of the mechanical arm by using a 3D printer, and assembling by using the driver, the processor and the sensor in the step 1.1 to obtain a required physical model machine.
3. The invention relates to a mechanical arm control method based on model design according to claim 2, wherein the step 2 is specifically implemented according to the following steps:
step 2.1, exporting a URDF file according to the CAD model of the mechanical arm designed in the step 1.1, modifying the URDF file, establishing a LAUNCH starting file by utilizing the exported URDF file, importing GAZEBO software of an ROS system, and establishing a GAZEBO simulation model of the mechanical arm;
and 2.2, importing the URDF file exported in the step 2.1 into MATLAB software to build a SIMULINK mechanical arm simulation model of the mechanical arm.
4. The invention relates to a mechanical arm control method based on model design, which is characterized in that the step 3 is implemented according to the following steps:
3.1, importing the URDF file in the step 2.1 into RVIZ software of an ROS system, building an RVIZ simulation model of a mechanical arm, starting a LAUNCH starting file in the step 2.1 to verify the correctness of the simulation model in the ROS system, and verifying a kinematic trajectory planning model of a robot model in the RVIZ software by using a motion frame MOVEIT;
3.2, designing a SIMULINK controller to build a mechanical arm kinematic trajectory planning verification model and feedforward control and PID control strategies in a controller in the control system according to the mechanical arm SIMULINK model built in the step 2.2, adjusting all parameters of the control system, verifying the correctness of the SIMULINK model, reserving a controller module interface verification control algorithm, and facilitating later algorithm improvement and verification;
and 3.3, performing MATLAB and ROS combined simulation, verifying the correctness of the model by comparing the mechanical arm models in the steps 3.1 and 3.2, in order to further determine the reliability of the designed control system, controlling the robot model in the ROS environment by using a controller in the MATLAB, testing by using the robot model in the ROS environment to replace a physical prototype model, verifying the feasibility of realizing semi-physical simulation by using the MATLAB and ROS combined simulation, and finally performing software and hardware combined simulation after debugging is correct.
5. The invention relates to a mechanical arm control method based on model design according to claim 4, wherein the step 4 is implemented specifically as follows: under the condition that the MATLAB and ROS combined simulation model is verified to be correct, the MATLAB and ROS combined simulation model in the step 3.3 is utilized, and an MATLAB controller in the MATLAB combined simulation model is utilized to control a physical prototype carrying an ROS control system, so that software and hardware simulation is realized; and then automatically generating C codes by the controller part in the simulation model, debugging software and hardware of the mechanical arm control system, compiling and debugging the C codes and the bottom layer driving codes of the mechanical arm physical prototype, optimizing system debugging and finishing control of the mechanical arm.
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Application publication date: 20210209 |