Design And Development Of Rapid Control Prototype System For Manipulator

With the continuous advancement of science and technology and the progress of industrial production,robots have gradually become an indispensable part of the automation field.Manipulators,as crucial components of robots,require optimized and upgraded control algorithms to improve control performance and achieve various functionalities.The control algorithms for manipulators need to possess high precision,high speed,and high reliability to meet the requirements of different fields.However,traditional control methods for manipulators mainly rely on offline simulations and experiments on actual systems,which consume a significant amount of time and cost to ensure accuracy and feasibility.To accelerate the verification process of manipulator control algorithms and overcome the limitations of traditional offline simulations,this paper proposes a new approach: the rapid control prototyping system for manipulators.This system utilizes a model-driven approach,enabling online debugging and real-time validation of manipulator control algorithms.This method greatly enhances the development efficiency and real-time performance of control algorithms.The specific research contents of this paper are as follows:(1)The overall architecture for manipulator control is constructed using rapid control prototyping technology.A rapid control prototyping toolchain is developed to facilitate automatic code generation for algorithm models,compilation into executable files,and deployment to the controller for execution.In terms of driving control for the manipulator,a rapid control prototyping toolbox is developed,allowing direct control of the manipulator using the I/O modules in the toolbox.Experimental results demonstrate that the manipulator control system utilizing rapid control prototyping technology significantly reduces the time and cost required for experimental verification.It also helps engineers identify and resolve issues in the early stages of control algorithm development.(2)Digital twin technology is combined to create a digital twin model of the manipulator in the digital space,including mathematical models and 3D models.The kinematic model of the manipulator is established based on the Denavit-Hartenberg parameters table,and the dynamic model of the manipulator is built using Sim Scape.A3 D model of the manipulator and its operating environment is developed using Unity3 D,achieving the integration of the digital and physical spaces.Experimental results demonstrate that this digital twin exhibits high accuracy during usage.(3)A data storage server and a web monitoring interface for the manipulator are designed,built,and developed.By collecting sensor signals from the manipulator,the position,temperature,velocity,and other data of the manipulator are stored in real-time in an OPC UA server.Based on the data in the server,a web interface for real-time monitoring of the manipulator data is developed using the Flask framework.