Simulation And Control Of A 4DOF Modular Manipulator

As the development of science and technology, robot is widely applied in many fields. In particular, the modular robot shows its advantage because of its dependability and its flexibility. Based on the modular manipulator AS-MRobot, the kinematics, co-simulation, 3D visualization simulation and real-time control are analyzed in the paper.1. The coordinate systems of AS-MRobot are built according to the D-H method. And the transformation matrixes on those systems and the kinematics equation are given later. The solution process of kinematics and inverse kinematics is analyzed by using MATLAB.2. The CAD software UG and mechanical dynamics software ADAMS are adopted to establish 3D simulating model of AS-MRobt. Combined the MATLAB/Simulink, the co-simulation of the manipulator is realized.3. By applying the 3D modeling software 3ds Max 2008, the 3D model of AS-MRobot is built. Then it is transformed as the OBJ format files for the visible simulation software OpenGL to read and control. Meanwhile, combined with the object-oriented programming language Visual C++6.0, the 3D visualization simulation of AS-MRobot is successfully realized.4. According to the requirements of robot control performance, a distributed control system of modular manipulator is designed, which is composed of universal PC, communication module and joint controllers. By applying Visual C++6.0, the standard platform combined 3D virtual simulation and real-time control is created in Windows XP.The standard platform has been applied on the modular manipulator AS-MRobot, yielding good control performance, and the characteristics of open system and real-time have been improved meanwhile.