Research On Attitude Stability Control System Of Multi-degree-of-freedom Robot

With the development of computer and robotics, the application of robotics has been used widely. Its working environment has been extended to many fields,including the sky, water surface, under water and so on. So the attitude stability of robot has been made the further requst. The attitude stability of the multi-degree-of-freedom robot is the main research of this thesis,it will be a wide use on surface or under water work and the ship hanging goods.In this thesis, the development state of robot has been introduced first. The robot systematic design, including the composition and operating principle of the system, has been proposed then. According to the request of the attitude stability, the positive and inverse kinematics model of the manipulator and the whole robot have been built by using D-H method. Using moving compensation principle, the attitude stability control function has been proposed, and the correctness and feasibility of kinematics model and the attitude stability control function have been verified through simulation. Finally, the position and rate tracking capabilities of the manipulator have been compared by simulations through three control methods,which are PD control, PD plus feed forward control and PD plus amendatory feed forward control.The control software of this robot has been designed in use of VC++. The attitude stability control of robot has been carried out, and the cooperation problem between manipulator and swing platform has been solved.