| This thesis is focused on the issue of motion control system design of multi-degree of freedom anti-bomb robot manipulator, which has been one of the key research areas in anti-terrorism robots or equipments. The following work has been done for a six-degree of freedom robot manipulator which is supposed to handle large explosive under complex constrain conditions:First Then we described the technical requirements of the 6-DOF robot manipulator and its mechanical design principle. After that the kinematics analysis of the manipulator was given through robotics calculation. Next, we compared the several alternative control system hardware solutions and design the main electrical circuit as well as the control circuit. You can find the comparisons and hardware details in this part. Then, all modules of the control process were schemed and programmed into computer software. Descriptions of flow diagrams and some original codes were also attached. Finally, a virtual reality program used to indicate manipulator motion was developed by LabVIEW and its 3D Picture Control. |
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