Trajectory Planning And Motion Control Of Four Degrees Of Freedom Manipulator

Industrial manipulator is a high degree of flexibility and versatility, in the automotive,electronics, transportation and other industries has been widely used. With the use ofmanipulator is becoming more and more popular, the research has made great progress. Formanipulator control accuracy of the increasingly high demand, the manipulator motioncontrol and path planning is very important in the study of.This paper uses the solid high degree of freedom of four GRB400manipulator asresearch platform, establishing mechanical hand D-H mathematical model solving forwardkinematics and inverse problem, and the use of ADAMS simulation software simulation andanalysis prove the correctness of model; Based on the D-H parameters of the manipulatorend-effecter pose error model, through the analysis of the data obtained on the pose erroreffect remarkable kinematics for the main parameters of angle error Δα and joint variableerror Δθ; Research of manipulator in joint space of two polynomial interpolation method oftrajectory planning, the parabola transition trajectory planning method and Cartesiancoordinate space linear interpolation method and arc interpolation method, through MATLABdata analysis parabola transition method of trajectory planning of joint motion process isrelatively more stable; On joint drive servo motor based on DSP under the control of S curvemovement mode test, the output of the planning response curve display movement during themotor running smooth, and realized by programming the movement of manipulator control.