虚拟NXT的基于模型设计项目“SCARC机器人"文档，共同翻译，，，

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     一篇关于“SCARC机器人"文档，希望在论坛里可以共同完成“NXT SCARA Model-Based Design.pdf”翻译，该文档是虚拟NXT在基于模型设计NXT SCARA机器人的文档，希望有兴趣和能力共同参与。

Table of Contents

Introduction........................................................................................................................................... i

Preparation............................................................................................................................................ i

Required MATLAB Products................................................................................................................ ii

File List................................................................................................................................................ iii

1    Model-Based Design.................................................................................................................... 1

1.1      What is Model-Based Design?................................................................................................ 1

1.2      V-Process............................................................................................................................... 2

1.3      Merits of MBD......................................................................................................................... 3

2    NXT SCARA System.................................................................................................................... 4

2.1      Structure................................................................................................................................. 4

2.2      Sensors and Actuators............................................................................................................ 4

2.3      Gear Trains and Backlash........................................................................................................ 5

2.4      Link Angle and Link Angular Velocity Limitation....................................................................... 6

3    NXT SCARA Modeling................................................................................................................. 8

3.1      Two-Link Planar Robot Arm..................................................................................................... 8

3.2      Inverse Kinematics.................................................................................................................. 9

4    Trajectory Making....................................................................................................................... 11

4.1      Making Procedure of Trajectory Function.............................................................................. 11

4.2      Basic Trajectory Calculation using 5-1-5 Polynomial.............................................................. 11

4.3      CP Motion and PTP Motion................................................................................................... 13

5    NXT SCARA Controller Design................................................................................................... 14

5.1      Control System...................................................................................................................... 14

5.2      Controller Design.................................................................................................................. 15

6    NXT SCARA Model.................................................................................................................... 16

6.1      Model Summary..................................................................................................................... 16

6.2      Parameter Files..................................................................................................................... 21

6.3      Trajectory Calculation............................................................................................................ 22

7    Plant Model................................................................................................................................ 23

7.1      Model Summary..................................................................................................................... 23

7.2      Plant...................................................................................................................................... 24

7.3      Engage Detect and Backlash Remove................................................................................... 25

7.4      Simulation Stop...................................................................................................................... 26

8    Controller Model......................................................................................................................... 27

8.1      Control Program Summary..................................................................................................... 27

8.2      Model Summary..................................................................................................................... 29

8.3      Initialization Task : task_init.................................................................................................... 32

8.4      50ms Task : task_ts1............................................................................................................. 32

8.5      100ms Task : task_ts2........................................................................................................... 40
   8.6      Tuning Parameters................................................................................................................ 41

9    Simulation................................................................................................................................... 42

9.1      How to Run Simulation.......................................................................................................... 42

9.2      Simulation Results................................................................................................................. 43

9.3      3D Viewer.............................................................................................................................. 45

10       Code Generation and Implementation....................................................................................... 46

10.1   Target Hardware and Software............................................................................................ 46

10.2   How to Generate Code and Download................................................................................. 47

10.3   Experimental Results........................................................................................................... 48

11   Challenges for Readers............................................................................................................. 50

Appendix  Generated Code............................................................................................................... 51

References......................................................................................................................................... 57

英文源文件： NXT SCARA Model-Based Design.pdf (2.32 MB, 下载次数: 22)

2012-7-6 08:05 上传

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中文翻译文件： NXTscara.rar (4.31 MB, 下载次数: 77)

2012-7-6 08:10 上传

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