Design Of Control System Of Manipulator Used For Steam Generator Repairing

The design of control system of the manipulator used for steam generator repairing is presented, the software system and hardware system of the control system is give, and the function of the system is analysis.A inverse kinematic solution method for the manipulator is presented. The manipulator is a six-DOF manipulator, but for the particularity of the structure and the work of the manipulator, the inverse kinematic solution becomes a question of inverse solution for redundant manipulator. A method based on algebraic method and numeric method is brought forward according to the special structure of the manipulator, with which we can solve the problem accurately and rapidly. The nonmonotonic trust region algorithm is used for the optimal question solution, this approach has not only the rapid convergence for Newton's method, but also the desirable overall convergence, make the course of solution more convenient.A Optimized dimension design of the manipulator is presented. Through analysis of the surroundings of the manipulator and the collision, a collision check method is brought forward. According to the main task of the manipulator -plugging pipes, the inverse kinematic solution of part of the manipulator joints is presented, based on which a optimized target function is deduced, then the optimized dimension design of the manipulator is carried out according to this target. Multilevel method is used for the optimized according to the character of the problem, at last the optimized result is presented.Artificial potential field (APF) is used for the Collision-free path planning. The result of computer simulation is provided.At last, the real control system is designed, the software system based on VC++; the three dimensional simulation based on OpenGL; and the hardware control system based on DSP control system is presented.