1、 本 科 毕 业 设 计本 科 毕 业 设 计 ( (论 文论 文 ) ) 外文翻译（附外文原文）外文翻译（附外文原文） 学学 院：院： 机械与控制工程学院机械与控制工程学院 课 题 名 称课 题 名 称 ： 搬运机械手的结构和液压搬运机械手的结构和液压系统系统设计设计 专业专业( (方向方向) )： 机械设计制造及其自动化机械设计制造及其自动化（机械装备）（机械装备） 班班 级：级： 学学 生：生： 指 导 教 师指 导 教 师 ： 日日 期期 ： 20152015 年年 3 3 月月 1010 日日 1 Proceedings of the 33rd Chinese Control Con
2、ference July 28-30, 2014, Nanjing, China The Remote Control System of the Manipulator SUN Hua, ZHANG Yan, XUE Jingjing , WU Zongkai College of Automation, Harbin Engineering University, Harbin 15000 E-mail: Abstract: A remote control system of the 5 degree of freedom manipulator was designed. This
3、manipulator was installed into our mobile robot to constitute a remote rescue robot. The Denavit-Hartenberg method was used to establish the kinematic models and the path planning of the manipulator was researched. The operator could remote control the manipulator by the interactive interface of PC
4、which could display moving picture and various data of the manipulator. The servos of the manipulator were controlled by the slave FPGA controller. In addition, the slave FPGA controller communicated with the PC via the wireless communication module. Owing to the embedded Nios II program and IP (Int
5、ellectual Property) core generating PWM waves in FPGA, the system could control the multiple servos fast and flexible. In order to achieve real-time operation and simulation, the interactive interface was established by the mixed programming of VC and MATLAB. Key Words: The manipulator; Remote contr
6、ol; Denavit-Hartenberg; FPGA; Human-computer interaction 1 Introduction With the development of the microelectronic technique and the computer technology, the manipulator has become essential equipment in the manufacturing industry. As we all known, the manipulator is usually applied to accomplish dull, onerous and repeated physi
