桌面级机械臂控制系统研究与应用

摘 要
随着科学技术的飞速发展，机器人正从传统的工业领域向消费级和教育领域 加速渗透。这一趋势对桌面级机械臂的成本与性能，尤其是对其控制系统，提出 了新的挑战与要求。
为了应对这一挑战，本文聚焦于桌面级六轴机械臂的控制系统研究与应用， 旨在设计并实现一套兼具低成本与高性能的完整解决方案。在硬件层面，本文创 新性地采用了“闭环步进电机与绝对值编码器”结合“二级同步带与行星减速机 构”的传动方案，有效替代了昂贵的伺服系统与谐波减速器，从根本上解决了成 本瓶颈。在控制架构层面，设计了以MATLAB/Simulink为开发核心、以STM32 为下位机运动控制卡”的分层解耦架构，实现了上层复杂算法规划与下层实时运 动控制的分离。在核心算法层面，针对高精度连续路径的需求，本文提出了一种 改进的三次贝塞尔曲线插值算法，仅需调节单一参数即可自动生成平滑且连续的 运动轨迹，显著提升了规划灵活性。
为开发并验证上述系统，本文首先设计并搭建了配套的六轴机械臂作为物理 平台。随后，建立了该机械臂的Denavit-Hartenberg(D-H)模型，并完成了运动学 求解与仿真。通过对关节空间和笛卡尔空间的直线、圆弧及贝塞尔曲线轨迹进行 实验测试，结果表明，所设计的控制系统与低成本硬件结合良好，运行平稳，轨 迹精度满足预期，验证了整套方案的有效性和稳定性。
本文所研发的桌面级六轴机械臂系统，成功地平衡了成本与性能，为工业机 器人技术向桌面应用的转化提供了有效的衔接方案。该系统在职业教育、高校科 研及轻量级商业应用等领域具有广阔的应用前景。

Abstract

With the rapid advancement of science and technology, robotics is increasingly permeating from traditional industrial sectors into consumer and educational domains.

This trend presents new challenges and requirements for the cost and performance of desktop robotic arms, particularly for their control systems.

To address this challenge, this thesis focuses on the research and application of a control system for a desktop six-axis robotic arm, aiming to design and implement a complete solution that balances low cost with high performance. At the hardware level,this study innovatively adopts a transmission scheme combining "closed-loop stepper motors with absolute encoders" with a "two-stage synchronous belt and planetary gear mechanism". This effectively replaces expensive servo systems and harmonic drives, fundamentally resolving the cost bottleneck. At the control architecture level, a layered, decoupled architecture was designed featuring "MATLAB/Simulink as the core development environment" and an "STM32-based motion control card as the lower computer", achieving a separation between upper-level complex algorithm planning and lower-level real-time motion control. At the core algorithm level, targeting the demand for high-precision continuous paths, an improved cubic Bézier curve interpolation algorithm is proposed. This algorithm requires only a single parameter adjustment to automatically generate smooth and continuous motion trajectories, significantly enhancing planning flexibility.

To develop and validate the aforementioned system, a corresponding six-axis robotic arm was first designed and constructed as a physical platform. Subsequently,the Denavit-Hartenberg (D-H) model of the arm was established, and its kinematic solving and simulation were completed. Through experimental tests on linear, circular,and Bézier curve trajectories in both joint and Cartesian spaces, the results emonstrate that the designed control system integrates well with the low-cost hardware, operates smoothly, and achieves the expected trajectory accuracy, thereby alidating the effectiveness and stability of the overall solution.

The desktop six-axis robotic arm system developed in this thesis successfully balances cost and performance, offering an effective transitional solution for adapting industrial robot technology to desktop applications. The system exhibits broad application prospects in fields such as vocational education, university research, and lightweight commercial applications

目  录
第一章 绪论............................................................................................... 1 1.1
研究背景 ........................................................................................... 1 1.2
研究意义 ........................................................................................... 3 1.3
机器人控制系统研究发展现状 ...................................................... 4 1.4
本文主要研究内容 ........................................................................... 5 1.5 

本章小结 ........................................................................................... 6 

 第二章 桌面级六轴机械臂本体设计 ...................................................... 9 2.1 

设计目标分析 ................................................................................... 9 2.1.1 

开源方案技术特性分析 ............................................................. 9 2.1.2 

商业化方案技术特性分析 ....................................................... 10 2.1.3 

设计目标确立 ........................................................................... 11 2.2 

机械臂本体结构设计 ..................................................................... 12 2.2.1 

关键技术指标 ........................................................................... 12 2.2.2 

结构方案迭代 ........................................................................... 14 2.3 

核心部件选型与设计依据 ............................................................ 18 2.3.1

 驱动单元选型 ........................................................................... 18 2.3.2

 减速方案选型 ........................................................................... 20 2.4 

整机集成设计 ................................................................................. 21 2.4.1 

三维建模与虚拟装配实现 ....................................................... 21 2.4.2 

整机技术参数汇总 ................................................................... 24 2.5 

本章小结 ......................................................................................... 25 

 第三章 桌面级六轴机械臂运动学建模 ................................................ 27 3.1 

机械臂坐标系定义 ......................................................................... 27 3.2 

机械臂D-H参数 ........................................................................... 29 3.3

 机械臂正运动学模型 ..................................................................... 31 3.4 

机械臂逆运动学模型 ..................................................................... 32 3.4.1 

计算手腕中心 ........................................................................... 33 3.4.2 

求解定位关节 ........................................................................... 33 3.4.3 

求解定向关节 ........................................................................... 35 3.4.4 

运动学逆解选取 ....................................................................... 37 3.5 

机器人运动学仿真验证................................................................. 38 3.5.1 

正运动学仿真 ........................................................................... 38 3.5.2 

逆运动学仿真 ........................................................................... 39 3.6 

本章小结 ......................................................................................... 42

第四章 机械臂轨迹规划算法设计 ........................................................ 45 4.1 

机械臂轨迹速度规划 ..................................................................... 46 4.1.1 

梯形(T型)速度规划 ................................................................. 46 4.1.2 S

型速度曲线规划 .................................................................... 47 4.2 

关节空间轨迹规划 ......................................................................... 48 4.2.1 

三次多项式插值 ....................................................................... 49 4.2.2 

五次多项式插值 ....................................................................... 51 4.3 

笛卡尔空间轨迹规划 ..................................................................... 52 4.3.1 

空间直线插补 ........................................................................... 52 4.3.2 

空间圆弧插补 ........................................................................... 55 4.4 

改进的三次贝塞尔曲线轨迹插值算法 ........................................ 58 4.4.1 

三次贝塞尔曲线原理 ............................................................... 58 4.4.2 

基于几何约束的贝塞尔控制点自动生成算法 ...................... 59 4.5 

本章小结 ......................................................................................... 63 

 第五章 控制系统的设计与实现 ............................................................ 65 5.1 

机器人控制系统架构方案分析 .................................................... 65 5.1.1

 基于“PC+运动控制卡”的控制系统 ........................................ 65 5.1.2 

基于“IPC+运动控制卡”的控制系统 ...................................... 66 5.1.3 

基于PLC的控制系统 ............................................................. 67 5.1.4 

基于“通用PC+工业实时以太网”的控制系统 ....................... 68 5.2 

桌面级机械臂控制系统架构设计 ................................................ 69 5.2.1 

功能及通信接口设计 ............................................................... 70 5.2.2 

控制系统信息流设计 ............................................................... 71 5.3 

硬件系统设计 ................................................................................. 73 5.3.1 

多轴运动控制卡设计 ............................................................... 73 5.3.2 

控制柜集成设计 ....................................................................... 74 5.4 

软件系统设计 ................................................................................. 76 5.4.1 

下位机固件程序设计 ............................................................... 76 5.4.2 

上位机软件设计 ....................................................................... 77 5.5 

机械臂系统集成与实验验证 ........................................................ 83 5.5.1 

实验一：空间直线轨迹跟踪实验 ........................................... 84 5.5.2 

实验二：空间圆弧轨迹跟踪实验 ........................................... 87 5.5.3 

实验三：空间连续曲线(贝塞尔)轨迹跟踪实验 .................... 90 5.6 

本章小结 ......................................................................................... 93 

 第六章 总结与展望 ................................................................................ 95 6.1 

总结 ................................................................................................. 95 6.2 

展望 ................................................................................................. 96 

参考文献 ................................................................................................... 97