Research On Real-time Simulation System For Multiple DOF Robot Arm

With the rapid development of science and technology, the requirement about qualities oflife are becoming higher and higher in present-day society. In the situation, the universallyapplications of robot have been achievement in many fields, such as education, entertainment,industrial production and so forth. Robot arm, one of the most common robots, has its ownfeatures. Time-varying, Coupling and Non-linear are the main features of it. In this case, howto improve the performances of the Robot Arm Control System and how to reduce thealgorithms development time are always the most important points concerned by scientists inthis field. After analyzing the current situations in China and other countries, this dissertationdesigns and implements a Real-Time Simulation System for Multi-Degree-of-Freedom RobotArm based on Matlab/Simulink.First, the dissertation presents the basic principle of hardware-in-loop control system.After the analyzing the hardware-in-loop control system, the author put forward a specialarchitecture for the simulation system, to be more specifics, the system uses the PC with aPCI-1784card in it as the working platform; uses the hardware circuit with an Atmel Mega128microprocessor as manipulator dirver; uses multi-degree-of-freedom maniplutor as thecontrolled object. In order to establish a complete system, I connect the PC and manipulatordiver with serial port, at the same time; I connect the PC and encoders with PCI bus.Meanwhile, I point out the upper computer software solution based on Matlab/Simulink. Indetail, I develop the simulation systems interface software using Matlab GUI, as well asdevelop the PCI-1784card’s Simulink drive and controller using C-Mex S function. This isfollowed by the description of Robot Arm’s kinematics model, workspace analysis, and pathplanning. the former is analyzed with D-H method, the workspace is measured by MonteCarlo theory and the latter include Cubic polynomial and Five polynomial path planningmethods in joint space, as well as the Linear planning and Arc planning path planningmethods in Cartesian space. Finally, the dissertation designs auto control experiment, teachingand playback experiment and the path planning experiments in Cartesian space in order toprove the efficiencies of the Real-Time Simulation System.According to the result of these experiments, we can found the system have a goodcharacteristics of real time, high precision control and stable operation. Furthermore, there is a seamless connection between the system and Matlab/Simulink. Base on these, it can exploitall the function provided by Matlab/Simulink, such as Matlab system function, basic controlmodules and robotics toolbox (developed by foreign experts). All the advantages improvedeveloping efficiency, simplify the developing processes and ensure the correction ofalgorithm.