Research Of A 7DOF Ping-pang Manipulator's Motion Planning And Control

A lot of research institutes and companies started the research tide of Ping-Pang playing manipulators since 1983, and impressive achievements have been finished by them. However, for manipulators that adopt the standard rules, larger workspace and faster response are needed, and these compose new challenges to the control and trajectory planning of mechanical arms.Supported by National High Technology Research and Development Program of China, this paper designed the electronic part of a 7DOF manipulator. The designed joint controller use FPGA as its core processor, and cooperates with a DSP arm controller to control the whole arm. SVPWM method and current sensors are used to drive the PMSM motor.Then, the standard DH reference system is assigned and the Jacobin matrix is deduced to solve the velocity. Based on the Masayuki's parameterization methods, the redundant parameter is defined and the analytical result of the inverse kinematics is deduced. A method that combines the parameterize solution with a search algorithm to find the best inverse solution of the redundant manipulator is proposed.According to the demand of the game, A Fixed-Time trapezoidal acceleration trajectory planning method is proposed; this method has a higher usage of the joint motor's ability and can achieve higher accuracy. In the end, an arm controller using a PD + friction compensation +Gravity compensation technique is designed. Joint friction parameter is identified and dynamic model of the manipulator is built using the Robotic tool box to simulate the ability of the controller. Experiments and simulations verified the effectiveness of the designed system.