| The articulated robot is be cared by designer and user for its broad work range, flexible movement,compact structure,The five degrees of freedom articulated robot which the article designed can be used not only in the practical production but also in the teaching and science research. The users can comprehend the composition and run theory of robot and can further study in the teaching and science research. So the article's study has broad factual meaning and application prospects.Using JJR-1 robot ,the article studies correlative key technologies to fulfill the robot requirement in operation contents.First, JJR — 1 robot's kinematic analysis is completed In the articler. The analyse of kinematics is the importment base of the thchnology of robotics. D-H matrix can easily relate movement of manipulator to matrix.On the base of utilizing D-H matrix,the article analyses the position and posture of the JJR-1 robot, set up the kinematics equation of the manipulator and solve it. Meanwhile , utilizing algebra law, inverse kinematics equation is solved..On the basis, hardware of the control system is designed.Utilizing microcontroller technology , a new design of Master-slave control system of the JJR-1 robot is put forward. The Master computer(PC) carry on calculating of kinematic and the trajectory planning, using 89C51 MCU( The slave computer),. The single —joint servo control system is devised.On the foundation of having designed the hardware of the control system,using the theory of modern control engineering, the mathematical model of direct current motor is established.The stability and stability errors of the system is analysed,which is controlled by single-joint DC servo motor.Meanwhile,utilizing SIMLINKof Matlab, the whole control system is simulated,and the result proved the control system is reasonable and pratical.Additionally, the software of the control system is described systematically. |
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