多自由度分拣机械手位置的PLC控制仿真
Simulation of PLC Control for Position fo Multi-Degrees of Freedom Sorting Manipulator
禹春来 1胡来红 2李文方 1付瑞玲1
作者信息
- 1. 黄河科技学院工学部,河南 郑州 450063
- 2. 火箭军工程大学导弹工程学院,陕西 西安 710025
- 折叠
摘要
机械手具有能不断重复工作和劳动的特点,由于其本身的结构刚度和接触刚度较低时,容易产生振动.为了获取良好的机械手位置控制结果,提出一种基于PLC的多自由度分拣机械手位置控制方法.分析多自由度分拣机械手的运动方式,通过Burg算法对机器人运动想象原始脑电数据滤波处理,提取和运动想象相关的频段.多自由度分拣机械手信号经过小波分解处理后获取小波系数,将其和运动想象频段两者相互对应的时域信息输入共空间模式,完成脑电信号的预处理和特征提取.将机器人运动想象任务转换为控制命令输入到PLC控制器中,使其可以驱动电机,同时利用传感器完成机械手位置控制.实验测试结果表明,所提方法控制机械手的真实轨迹跟踪与期望轨迹基本一致,跟踪轨迹的误差小,表明所提方法能够精准完成机械手的位置控制.
Abstract
A manipulator has the characteristics of continuous repetitive work and labor.When the structural stiffness and contact stiffness are low,it is easy to produce vibration.In this paper,a method of controlling the position of a multi free degree sorting manipulator based on PLC was put forward.Firstly,we analyzed the movement mode of manipulator.Then,Burg algorithm was used to filter the original EEG data of motor imagery,thus extracting the fre-quency band related to motor imagery.After decomposing the signal of the multi-degree-of-freedom sorting manipu-lator,we obtained the small wavelet coefficients and input them into the common spatial pattern along with the time domain information corresponding to the motor imagery frequency band,thus completing the preprocessing and feature extraction of EEG signal.Finally,we converted the robot motor imagery task into a control command and input it into the PLC controller,thus enabling it to drive the motor.Meanwhile,we used sensors to complete the position control of the manipulator.The experimental results show that the proposed method can accurately complete the position control of the manipulator,with small tracking error and high consistency between the actual trajectory and the desired trajec-tory.
关键词
多自由度/分拣机械手/位置控制Key words
PLC/Multi free degree/Sorting manipulator/Position control引用本文复制引用
基金项目
河南省科技厅科技攻关计划(182102311046)
河南省高等学校重点科研项目(2022)(22B413006)
河南省高等学校重点科研项目(2023)(23B413006)
出版年
2024
NETL
NSTL
万方数据