Many Degrees Of Freedom Industrial Robot Control System Design

The purpose of this study is to research the multi-purpose industrial robot which can do some dull, simple and dangerous works instead of humans on the assembly line. The multi-purpose robot can complete the different needs of task in any given path by the educational apparatus. This new technology is a broad intercrossing subject which appeared in modern times.This research came from a fan manufacturing company which want to use robots replace employees to do some simple procedures. To achieve multi-functional, the first problem need to be solved is the variable path problem, that is to say it can move through any reasonable paths by the educational apparatus or program guide; the second problem is instability problem when the robot works in different load; Moreover, the last problem is its anti-jamming capability. If these issues are resolved, it can achieve different functions by replace the actuator of the robot hand. The main contents of the paper are mainly the following aspects:1、Analysis six degrees of freedom of the robot’s direct kinematics and inverse kinematics dynamics problem and according to its mechanical structure and the DH parameters establish its coordinate system and its respective sports mathematical model;2、Determine the overall plan and structure of the industrial robot control system, which using Panasonic’s servo motor drive of A5series and Cortex-M3processor of LPC1700series in main and follow controller, moreover, those two controller can be communicate by CAN BUS. The control system consist of five design module as follows:power module, control module, teach the module, the servo drive module and CAN bus communication module;3、Showing the design of education programs, which can record the key teaching point of the teaching path and finish trajectory planning by the direction key of each joint, and teach the whole operation.4、Analyzing from the view of system dynamics, the torque of Mechanical arm exist some function relation between its angle, velocity and angular acceleration. At the same time, taking the impact of their work environment external interference and friction factors on the system control in into account, we add an adaptive fuzzy logic compensation control to eliminate these uncertain factors on the impact of the control system To a certain extent, and improve the anti-interference ability and stability of the system, so that it can accurately track the desired trajectory. At last, we use the Matlab simulation verify the trajectory tracking performance.