| 张德慷,马桂金,李 坤,刘晓瑞.面向 ESM 任务的机械臂控制策略与优化算法[J].电子测量与仪器学报,2022,36(5):30-38 |
| 面向 ESM 任务的机械臂控制策略与优化算法 |
| Control strategy and optimization algorithm for the ESM manipulator |
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| DOI： |
| 中文关键词: 机械臂运动学 电磁兼容 电磁辐射源定位检测(ESM) 最优控制 路径规划 |
| 英文关键词:kinematics of robotic arm electromagnetic compatibility emission source microscopy(ESM) optimal control path planning |
| 基金项目:国家重点研发计划( 2020YFB1313600)项目资助 |
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| 中文摘要: |
| 针对机械臂在电磁兼容检测领域的应用需求,本文研究并提出了其在电磁辐射源定位检测( emission source microscopy,
ESM)任务中的设计方法与控制策略。 在设计方法上,对机械臂结构、天线姿态以及采样面完整性等约束条件进行建模,依据面
积最优原则生成 ESM 采样柱面。 在控制策略上,基于关节搜索策略改进 RRT∗算法(RRT∗-JSS),实现在给定扫描面下对机
械臂关节状态的最优规划。 以上方法与策略在仿真实验中使机械臂在 ESM 任务中以扫描路径损失 4. 3%的代价实现平均关
节变化角降幅 68. 96%。 在基于 Elfin5 型机械臂与点状辐射源搭建的验证实验中,实际获得的 ESM 成像分布与仿真结果间
误差≤0. 35 dBm。 以上仿真与实验结果证明了研究 ESM 机械臂设计方法与控制策略的有效性,可望在 EMI 检测领域得到
应用。 |
| 英文摘要: |
| According to the requirements on manipulator robot in the electromagnetic compatibility measurement, this paper proposes the
design methodology and control strategy of 6-DOF manipulator in emission source microscopy (ESM) task. The task constraints, the
structure of the manipulator, orientation of the antenna and the integrity of scanning surface are modeled, and the ESM sampling cylinder
is generated according to the principle of area optimization. The improved RRT∗ algorithm based on joint search strategy (RRT∗-JSS)
realizes the optimal planning of the joint position state of the manipulator under a given scanning plane. In the simulation experiments,
above method and strategy enable the manipulator to achieve a reduction of 68. 96% in the average joint change angle, under the
scanning path loss of 4. 3%. In the verification experiment based on Elfin5 manipulator and patch-shaped radiation source, the error
between the actual obtained ESM imaging and the simulation results is below 0. 35 dBm. Above simulation and experimental results prove
the effectiveness of the studies, which is expected to apply in the field of EMI measurement. |
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