Control System Design And Research Of Explosive Ordnance Disposal Robot Five Degrees Of Freedom Manipulator

The manipulator of EOD robot plays an important role in exploder clearing task.Operators use upper computer control system to control manipulator remotely to exclude,carry,and even destroy explosives,these tasks can not be completed without the stable and reliable control system.Therefore,the research on the control system of manipulator is of great significance.In this paper,control system is designed and researched for five degrees of freedom manipulator of EOD robot,including kinematics analysis and simulation,trajectory planning of 5 DOF,hardware design,software design of control system and upper computer control system design.The main research work is as follows:1.This part builds the kinematics model of 5 DOF manipulator by the D-H method,does the forward and inverse kinematics solution,uses Robotics Toolbox in Matlab to make simulation and verification,and uses SimMechanic Toolbox in Matlab to simulate the workspace of 5 DOF manipulator.The Jacobian matrix is derived by differential variation method.The result is verified by vector product method and the singular configuration is analyzed.2.This part plans the trajectory of 5 DOF manipulator,in joint space,solves the joints trajectory functions by cubic polynomial interpolation and quintic polynomial interpolation,draws function curves by using Matlab and makes a comparative analysis,in Cartesian space,plans the trajectory of end-effector by spatial linear interpolation and spatial arc interpolation and performs simulation experiment in Matlab.3.This part develops the main controller module,power-supply module,motor control module,sensor module,communication module and security module,selects the necessary devices,and designs the hardware circuit of each module,through the analysis of the devices' operating principle and performance.4.This part chooses the ?C/OS-II operating system that is transplanted into the main controller STM32F103ZET6.Using ARM development tool,writes system-initialization program,recognition program,motor control program,and sensor module control program.The motor control communication protocol and sensor communication protocol are designed.5.The upper computer control system is designed by using Labview.This part realizes the remote control of 5 DOF manipulator and the display of real-time information,and uses 3D Picture control technology to develop the simulation training platform that can help operators to conduct EOD task.