机械手外文翻译【骄阳书屋】
24页1、本科毕业设计(论文)外文翻译(附外文原文) 学 院: 机械与控制工程学院 课题名称: 搬运机械手的结构和液压系统设计 专业(方向): 机械设计制造及其自动化(机械装备) 班 级: 学 生: 指导教师: 日 期: 2015年3月10日 教学fProceedings of the 33rd Chinese Control ConferenceJuly 28-30, 2014, Nanjing, ChinaThe Remote Control System of the ManipulatorSUN Hua, ZHANG Yan, XUE Jingjing , WU ZongkaiCollege of Automation, Harbin Engineering University, Harbin 15000E-mail: Abstract: A remote control system of the 5 degree of freedom manipulator was designed. This manipulator was installed into our mobile r
2、obot to constitute a remote rescue robot. The Denavit-Hartenberg method was used to establish the kinematic models and the path planning of the manipulator was researched. The operator could remote control the manipulator by the interactive interface of PC which could display moving picture and various data of the manipulator. The servos of the manipulator were controlled by the slave FPGA controller. In addition, the slave FPGA controller communicated with the PC via the wireless communication
3、module. Owing to the embedded Nios II program and IP (Intellectual Property) core generating PWM waves in FPGA, the system could control the multiple servos fast and flexible. In order to achieve real-time operation and simulation, the interactive interface was established by the mixed programming of VC and MATLAB.Key Words: The manipulator; Remote control; Denavit-Hartenberg; FPGA; Human-computer interaction1 IntroductionWith the development of the microelectronic technique and the computer tec
4、hnology, the manipulator has become essential equipment in the manufacturing industry. As we all known, the manipulator is usually applied to accomplish dull, onerous and repeated physical work, especially used to substitute the manual operation under the dangerous and the hazardous environment such as the corrosion and the high temperature.In this paper, the manipulator was installed our mobile robot. The tele-operation system of this manipulator was designed. The whole system is onstituted by
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