| With the rapid development of robot technology, robot simulation, being a powerful method in robot design and research, has been playing a more and more important role in robotic field. This thesis mainly studies on the objected-oriented control and visual simulation of PUMA560 robot. Based on VC environment, a PUMA560 robot simulation system is developed, and many aspects about PUMA560 robot model, such as kinematics, dynamics, trajectory tracking and control methods, are implemented. The main research in this paper is as follows:Firstly brief review of the development situation of robot simulation technique home and abroad is given in this paper. Then a platform with a friendly interface in VC environment for the control and simulation of PUMA560 robot model is built, which includes a 3P visual model of PUMA560 robot and a control sub-window. Mixed programming technique of VC and Matlab is also applied to this simulation system.In the succession, kinematics and dynamics of PUMA560 robot are emphasized. Based on the kinematic equation with standard Denavit-Hartenberg form, the forward and inverse kinematics and non-collision trajectory planning of PUMA560 robot in joint space are discussed, which are followed by correlative simulation. After that, the dynamic control and trajectory tracking of PUMA560 robot are studied at great length. Aiming at the uncertainty in this dynamic system, intelligent control technique is introduced to the robot dynamic system. Compensating control with neural network and learning control based on Genetic Algorithms are brought into the system respectively to track the trajectory in the joint space. The efficiency of each intelligent control method is proved by simulation results.The modeling, control and simulation of PUMA560 robot are deeply studied in this thesis, and a 3D simulation platform of robot is realized. All the research work done here will surely do grrat benefits to the robot simulation technique and further applications of intelligent control. |
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