The Control Technology Research Of Hull Block Marking Manipulator

With the progress of science and technology, the naval technology develops more perfect, and the further explore to the ocean, the demand for ship is more and more obvious. Under the premise of ensuring the accuracy of ship, how to build ship quickly, efficiently and safe has become a hot topic at present. The manipulator is fast, flexible and efficient, and the manipulator has occupied an important position in the industrial processes.However, due to the normal manipulator rely on people’s teaching in order to operate on the workpiece correctly, the manipulator is not widely used in shipbuilding industry because of the diversity of the workpiece specifications. In summary, the intelligent control technology research of manipulator has the theoretical and practical significance.The main research content is the motion analysis, modeling&simulation and control of the6-DOF manipulator.According to the kinematic analysis can determine its spacial attitude, and then proceeding to the simulation, finally realizing the purpose of controlling the manipulator. It’s difficult to solve the inverse kinematics of the6-DOF manipulator, so the paper according to the assembly process simulation of the DELMIA, taking the hull block marking manipulator as an example, establishing the manipulator model in the virtual environment. According to the marking mission designing the manipulator’s work path, speed and the marking position, and then checking the interference, optimizing the work path. Then through the simulation of the manipulator’s motion process, measuring the inverse kinematics solution. At last outputting the manipulator’s control data and translating the data into the instruction code which can be identified by the manipulator. And then drive the physical manipulator to complete the work.