采用SG平滑滤波的Stewart平台主从控制研究
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摘要
针对并联机器人在未知环境,特别是危险环境中的路径规划难的问题,采用一种相同自由度下的主从控制方式实现并联机器人遥操作。为实现对机器人的控制,运用机构几何学方法对经典Stewart并联平台进行运动学分析,获得平台的运动学反解模型以及工作空间范围。以SpaceMouse通用3D鼠标作为控制主手,采用增量式映射方式,建立了Stewart平台的主从控制模型。考虑到主手存在由于人手抖动导致的控制不平滑问题,采用Savitzky-Golay(SG)平滑滤波法进行处理。通过对SG平滑滤波方法进行原理分析以及仿真试验,验证了该方法具有较好的平滑效果。基于Ethercat和Ethernet技术,组建了相应试验平台。试验结果表明,从手跟随主手运动最大延时约为40 ms。由此可知,该方法具有良好的实时性和平滑度,可以为并联机器人的实际应用提供参考。
In order to overcome the difficulties in path planning for parallel robots in unknown environments,especially in hazardous environments,a master-slave control method with the same degree of freedom is proposed to implement remote control of parallel robots. To achieve robot control,kinematics analysis of classical Stewart parallel platform is performed by using mechanism geometry; to get the kinematics inverse model of the platform and the scope of the workspace. Take the Space Mouse universal 3D mouse as the master control hand,by using Incremental mapping,the master-slave control model of the Stewart platform is established. Considering that the main hand has a problem of unsmooth control due to human hand shake,Savitzky-Golay (SG)smoothing filtering method is used for processing. The principle analysis and simulation test of SG smoothing filtering method verify that the method has better smoothing effect. Based on Ethercat and Ethernet technologies,the corresponding test platform is built.The test results show that the maximum delay from the slave hand following the master hand movement is about 40 ms. It can be seen that the method has good real-time performance and smoothness,which can provide a certain reference for parallel robots in practical applications.
In order to overcome the difficulties in path planning for parallel robots in unknown environments,especially in hazardous environments,a master-slave control method with the same degree of freedom is proposed to implement remote control of parallel robots. To achieve robot control,kinematics analysis of classical Stewart parallel platform is performed by using mechanism geometry; to get the kinematics inverse model of the platform and the scope of the workspace. Take the Space Mouse universal 3D mouse as the master control hand,by using Incremental mapping,the master-slave control model of the Stewart platform is established. Considering that the main hand has a problem of unsmooth control due to human hand shake,Savitzky-Golay (SG)smoothing filtering method is used for processing. The principle analysis and simulation test of SG smoothing filtering method verify that the method has better smoothing effect. Based on Ethercat and Ethernet technologies,the corresponding test platform is built.The test results show that the maximum delay from the slave hand following the master hand movement is about 40 ms. It can be seen that the method has good real-time performance and smoothness,which can provide a certain reference for parallel robots in practical applications.
引文
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[2]ORTMAIER T J.Motion compensation in minimally invasive robotic surgery[D].Munich,Germany:Technical University of Munich,2003.
[3]ALI F,SHAHRAM P.A robotic case study:optimal design for laparoscopic positioning stands[J].IEEE International conference on robotics and automation,1998,17(9):986-995.
[4]王树新,丁杰男,貟今天,等.显微外科手术机器人-“妙手”系统的研究[J].机器人,2006,28(2):130-135.
[5]DIFLER M A,AHISTROM T D,AMBROSE R O,et al.Robonaut 2-Initial activities on-board the ISS[C]//IEEE Aerospace Conference Proceedings,2012.
[6]STEWART D.A Platform with six degrees of freedom[J].ARCHIVE Proceedings of the Institution of Mechanical Engineers,1965,180(1):371-386.
[7]杜宗潆.三维鼠标[J].电世界,2013(8):53.
[8]郭云鹏.导管介入手术中的虚拟现实技术与主从控制研究[D].南京:南京航空航天大学,2015.
[9]冯安洋.介入导管的设计与主从控制[D].南京:南京航空航天大学,2014.
[10]郭云鹏,陈柏,吴洪涛.一种六自由度海浪模拟并联平台的零点标定与性能评估[J].机电工程,2015,32(2):169-174.
[11]柳迪.消除手术机器人人手抖动问题的研究[D].天津:天津大学,2009.
[12]QUAN Q,CAI K.Time-domain analysis of the Savitzky-Golay filters[J].Digital Signal Processing,2012,22(2):238-245.