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
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TheRemoteCo
trolSystemoftheMa
ipulator
SUNHuaZHANGYa
XUEJi
gji
gWUZo
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CollegeofAutomatio
Harbi
E
gi
eeri
gU
iversityHarbi
15000
Emailc
AbstractAremoteco
trolsystemofthe5degreeoffreedomma
ipulatorwasdesig
edThisma
ipulatorwasi
stalledi
toourmobilerobottoco
stitutearemoterescuerobotTheDe
avitHarte
bergmethodwasusedtoestablishtheki
ematicmodelsa
dthepathpla
i
gofthema
ipulatorwasresearchedTheoperatorcouldremoteco
trolthema
ipulatorbythei
teractivei
terfaceofPCwhichcoulddisplaymovi
gpicturea
dvariousdataofthema
ipulatorTheservosofthema
ipulatorwereco
trolledbytheslaveFPGAco
trollerI
additio
theslaveFPGAco
trollercommu
icatedwiththePCviathewirelesscommu
icatio
moduleOwi
gtotheembeddedNiosIIprograma
dIPI
tellectualPropertycorege
erati
gPWMwavesi
FPGAthesystemcouldco
trolthemultipleservosfasta
dflexibleI
ordertoachieverealtimeoperatio
a
dsimulatio
thei
teractivei
terfacewasestablishedbythemixedprogrammi
gofVCa
dMATLABKeyWordsThema
ipulatorRemoteco
trolDe
avitHarte
bergFPGAHuma
computeri
teractio
1I
troductio
Withthedevelopme
tofthemicroelectro
ictech
iquea
dthecomputertech
ologythema
ipulatorhasbecomeesse
tialequipme
ti
thema
ufacturi
gi
dustryAsweallk
ow
thema
ipulatorisusuallyappliedtoaccomplishdullo
erousa
drepeatedphysicalworkespeciallyusedtosubstitutethema
ualoperatio
u
dertheda
gerousa
dthehazardouse
viro
me
tsuchasthecorrosio
a
dthehightemperature
I
thispaperthema
ipulatorwasi
stalledourmobilerobotTheteleoperatio
systemofthisma
ipulatorwasdesig
edThewholesystemiso
stitutedbyPCa
dslaveFPGATheoperatorca
remoteco
trolthema
ipulatorbyPCThewirelesscommu
icatio
wasusedfortra
smitti
gdatabetwee
PCa
dFPGAFPGAisco
trollerofthethema
ipulatori
themobilerobotFPGAhastheabu
da
ti
ter
alresourcea
dIPcoresA
dace
tralco
troloptio
wasbuiltviaa
embeddedNiosIIprograma
da
IPcorei
FPGAFurthermoreVerilogla
guagewasadoptedtodesig
theIPcorewhichge
erated
fdigitalPWMwavesforco
trolli
gthema
ipulatorThereforethissystemcouldreachhigherprecisio
a
deasytodebug
MATLABsoftwarewasadoptedtobuildtheki
ematicmodelsofma
ipulatorA
dusi
gDHtheacro
ymofDe
avitHarte
bergmethodtosolvetheforwarda
di
verseki
ematicequatio
softhema
ipulatortoa
alyzethemotivatio
topla
a
dtrackthemr