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Trajectory tracking of 4-DOF robot manipulator: a bond graph approach
参考中译:四自由度机械手轨迹跟踪的键合图法


          

刊名：International Journal of Mechatronics and Automation
作者：Rajmeet Singh（Department of Mechanical Engineering, Thapar Institute of Engineering and Technology）
Manvir Singh Lamba（Department of Mechanical Engineering, Thapar Institute of Engineering and Technology）
Tarun Kumar Bera（Department of Mechanical Engineering, Thapar Institute of Engineering and Technology）
刊号：780LD009
ISSN：2045-1059
出版年：2022
年卷期：2022, vol.9, no.4
页码：180-191
总页数：12
分类号：TH
关键词：4-DOF robotic arm；Position control；GRBL controller；Bond graph approach；Simulink；Pick and place
参考中译：四自由度机械臂；位置控制；GRBL控制器；键合图法；SIMULINK；拾取与放置
语种：eng
文摘：This research work presents the design of a position control algorithm for trajectory tracking of a four-degree-of-freedom robotic manipulator. The linkage mechanism of the manipulator is based on a parallelogram mechanism and in this manipulator, three parallelogram mechanisms are used. First, the CAD and the kinematic model of the manipulator are developed. The bond graph (BG) approach is applied to develop the dynamic model of the robotic arm based on kinematic equations. The BG model of parallelogram linkage is then compared with the Simulink model of parallelogram linkage and results are validated. Then, a position control algorithm is proposed to follow a set of trajectory planning applications. A GRBL-Arduino based controller is used to estimate the position of the end-effector as per the user's requirements. The simulation and experimentation work are performed for 3D trajectory tracking applications. The robotic arm is used for pick and place operation within the workspace.
参考中译：设计了一种用于四自由度机械臂轨迹跟踪的位置控制算法。该机械手的连杆机构是基于平行四边形机构的，在该机械手中使用了三个平行四边形机构。首先建立了机械手的计算机辅助设计和运动学模型。应用键合图(BG)方法建立了基于运动学方程的机械臂动力学模型。然后将平行四边形连杆机构的BG模型与SIMULINK的平行四边形连杆机构模型进行了比较，验证了结果。然后，针对一系列轨迹规划应用，提出了一种位置控制算法。基于GRBL-Arduino的控制器用于根据用户S的要求估计末端执行器的位置，针对三维轨迹跟踪应用进行了仿真和实验工作，机械臂用于工作空间内的拾取和放置操作。



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