基于虚拟现实的移动械臂控制系统分析

摘要

“景深”是提高控制系统精度有效手段,虚拟现实技术是解决“景深”的重要途径.文章基于虚拟现实技术,围绕机械臂控制系统的组成,针对系统的硬件部分和软件部分进行了设计,提出了一种移动机械臂控制策略；建立了机械臂运动学模型,进行了机械臂运动学分析、轨迹插补算法.通过MATLAB实验仿真分析,结果表明:该虚拟现实控制系统可有效控制机械臂运行,控制轨迹吻合.%"Depth of field" is an effective way to improve the accuracy of the control system, and virtual reality technology is an important way to solve the " depth of field". According to the composition of the manipulator control system, the paper designed the hardware and the software, proposed the control strategy based on the virtual reality technology, and established the kinematics model to make the kinematics analysis and to solve manipulator inverse solution with the path interpolation algorithm. The MATLAB simulation results show that the virtual reality control system can control effectively and the trajectory anastomosis.