| Measurement crack of bridge in long-term has great significance for the working safety and life evaluate of bridges. The manual and automatism measurement of these cracks are especially difficult because most of these cracks are on the bottom of bridges. At present, the technology inside and outside about bridge crack measurement are still rests on manual stage. The measurement quality and efficiency can not be ensured because of man-made affects. This text put forward development large-scale mechanical arm, using video scout and image processing technology measure the bottom of bridge where hard to reach by manual. It's hopeful to improve the measurement quality and efficient in bridge crack measurement.The general structure of mechanical arm is designed, moreover, the sequence logic control of it's main body are iayout. The kinematics modeling and parameters adapt fuzzy-PID control system design of the video regulator manipulator on the terminal of the arm is the focus of this text. Arming at 5-degree of freedom manipulator, using computer control technology, embed system technology, PWM pulse width modulator technology and photoelectrical measurement technology, my work is focus on the following aspects:1. The kinematics module of 5-degree of freedom manipulator are established. Arming at this module, the kinematics equation is established, further more, the result of anti-kinematics equation is solved.2. The parameters adapt fuzzy-PID control algorithm is simulated and it's regulation is compile, furthermore, the query table of fuzzy control are deduced.3.Using distributing control system to control the manipulator. The single chip microprocessor control equipment of each joint are designed, include the photoelectrical encode circuit, signal modulation circuit, direction identify circuit, pulse width modulation circuit of DC motor and serial communication bus circuit.4. Using Visual C++ and MAPLAB IDE as the development platform. The main...
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