Research On Trajectory Planning And Control Method Of Single Motor Driven Robot Arm

With the development of robot technology, the application area is expending and growing variety; furthermore the performance of robots is improving, more intelligent and multifunctional. Improvement in the structure of mechanical arm is one of the research orientations. Single motor driven mechanical arm is a lightweight and low inertia robot, which reduces the number of motors. It realized the functions of traditional robots with a light weight and a compact structure by changing the motion transmission structure.The mechanical structure and control system hardware design of the robot are designed in modules and the robot's arm length is changeable according to demand changes in theory, and control system has optional interfaces. Different tasks with different arm length can greatly reduce costs and increase efficiency. The research contents of this thesis mainly include the trajectory planning, Kinetics, control and simulation of the single motor driven mechanical arm.Based on the special structure of the robot, Linear and Arc right track by adding restrictions were researched. The dynamics model is built to analyze the angular velocity, acceleration and torque of the model Joints, and it uses iterative algorithm to take recursive calculation of joint force, moment. In the implementation of the system, it completes the design of control system of the robot, and uses PID position control algorithm in joints. In addition, the simulation system is established to take the trajectory planning and joint movement simulation experiment to test the accuracy and applicability of the trajectory planning,control methods and also the reliability of the entire control system communication.