Design Of Six-DOF Manipulator Control System

Six-DOF Manipulator is used to examine and repair the bow wave in the heat conduction tube, heat conduction ultrasound, and the water room surface. It can improve the working condition and the automatization level in the nuclear power station.It is introduced the designing of the manipulator control system based on practice project in this dissertation. It is presented the hardware designing of control system, software programming and system debugging in this paper.Firstly, it is introduced the development of Manipulator for steam generator and control system. The control system is imitated the ROSAIII manipulator of USA.Secondly, it is given the circuit and software design for manipulator in this dissertation. It is expatiated the digital signal processor (DSP), the relative circuit design, communication circuit design, and driver circuit design of the servo control system. It is analyzed the control mode characteristic of the direct current PWM power amplifier and the motor current of the double pole mode. It is introduced the details which include control algorithm, angle compound algorithm, communications, safeguard, I/O function. Furthermore, it is given the flow chart of control algorithm and the debugging software in practice.Finally, it is presented the problems of hardware and software in practice and given resolves. Moreever, the paper give the future researches to solve the problem of the manipulator.