Control System Design And Kinematics Simulation Of Six Degrees Of Freedom Manipulator

Manipulator is the most important implementing mechanism of robot, so there is a important signification for its research.A manipulator system includes four major sections, such as the mechanical structure, algorithm, hardware and software. All various parts are closely linked and required co-ordinated design.The subjecet"Con-trol System Design and Kinematics Simuluation Of six Degrees Of Freedom Manipu-lator"is the important part of national 863 Project"Research and Practice of Bionic Self-Organizing Learning Control of Flexible Two-Wheeled Balancing Robot".In this paper, our work mainly resides on the following aspects:Firstly, to get any position and orientation, the manipulator needs six degrees of freedom at least. In this paper, using the six degrees of freedom joint chain structure, a manipulator configuration maps are designed in accordance with the size of flexible two-wheeled balancing robot.each joint torque is estimated by the link quality and each motor is selected by the torque.Secondly, this paper presents a distributed control solutions based CAN- bus.The industrial personal computer and joint controller are connected to the CAN-bus.The main functions of industrial personal computer are communication and the imple-mentation of kinematics,trajectory planning algorithm. Joint controller uses the TMS320LF2407 DSP made by Texas Instruments company whose function is to achieve location,speed and torque servo control algorithm. Joint controller is con-nected to the CAN-bus by the CAN-card made by Advantech Company. DSP2407 includes CAN module, and it can be connected to the CAN-bus by external transmit-ter.Thirdly, the mathematical model is set up. Kinematics and inverse kinematics are analyzed. Two methods of trajectory planning based on joint space were analyzed as well as linear and circular interpolation algorithm.Forthly, three-dimensional simulation tool is developed based OpenGL aiming at 6-DOF manipulator. The simulation tool is developed on VC++6.0 platform, based on the MFC framework class and OpenGL graphics library. The simulation tool of 6-DOF manipulator shows the validity of the kinematics model and easily compared the four types of trajectory planning methods. In this subject, three-dimensional simulation tool is developed which not only shows the validity of the kinematics model and intuitively compares the four types of trajectory planning methods, but also solve the problem that the result of kinematics analysis is difficult to verify and the cost of the trial is high on the machine entity.