Experimental System of Serial-Parallel Micromanipulator
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摘要: 介绍了一套完整的微操作机器人实验系统,该机器人系统是在一种用于微操作的新颖的串并联机构基础之上建立起来的.针对串并联微动机构的特点,提出了一种电容式测微仪与计算机视觉系统相结合的运动学标定方法.同时,为实现对压电驱动元件的精确控制,采用了一种参数切换的变速积分PI(Proportional-Integral)控制算法,并收到了预期的效果.最后对该系统进行了微动画图实验,得到了理想的圆形和矩形轨迹图形.实验结果表明,该微操作机器人系统的组成及控制、标定方法对完成高精度微操作任务是有效的.Abstract: An experimental micromanipulator system was established based on a novel serial-parallel micro-motion mechanism used for micromanipulation. Considering the characteristic of the mechanism, by combining the micro vision system of computer with a capacitive micrometer, a convenient and effective kinematics calibration method for plane micro motion mechanism was proposed. In addition, an alterable integral PI control method was adopted to keep precise control of the PZT. The validity of this serial-parallel micromanipulator system was verified by the experiment of drawing circles and rectangles.
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Key words:
- kinematics /
- robots /
- calibration /
- serial-parallel mechanism /
- micromanipulation
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[1] Arai T, Lasonneur R, Jaya Y M. Calibration and basic motion of a micro hand module. Proceedings of the IEEE International Conference on Robotics and Automation. New York, 1993. 1660~1665. [2] Fukuda T, Fujiyoshi M, Arai F, et al. Design and dextrous control of micromanipulator with 6 DOF. Proceedings of the IEEE International Conference on Robotics and Automation. Sacramento, CA, 1991. 1628~1633. [3] Lee K M. A three-degrees-of-freedom micromotion in-parallel actuated manipulator[J]. IEEE Transactions on Robotics and Automation, 1991, 7(5):634~641. [4] 毕树生,王守杰,宗光华.串并联微动机构的运动学分析[J]. 机器人,1997, 19(4):259~264. -
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