Research And Development For Multiaxial Manipulator Control Systems

With the advancement of automation production and automatic control system research,besides, In recent years, labor shortage problem has become increasingly serious, research andapplication of manipulator for industrial production will become the future trend, The Multiaxialmanipulator is flexible and can perform multi-channel process, it wills not only save a lot ofhuman labor, but also can improve the production efficiency and enhance the corecompetitiveness of enterprises.In order to improve the accuracy and speed of multiaxial manipulator during the operation,and enhance its flexibility, the thesis based on the analysis of the domestic and foreignmanipulator and the difficulties of control system design, and combined with the actualinspection. The key points which are still not resolved are how to solve the problem of pathplanning for multiaxial manipulator operated in multiple fixed-point, How to avoid the barrierand complete point-to-point operations with a smooth path, How to avoid repeatedly zero speedproblem during continuous micro-line path, How to design the whole multiaxial manipulatorcontrol system and embedded a humanized HMI. The main studies and conclusions of this thesisare listed as below:Firstly, after analysising the whole structure of multiaxial manipulator control system, itadopts two STM32series chips to realize display and Motion control, besides, combined withtrajectory planning and speed control algorithms to improve manipulator performance.Secondly, after comparing Bezier algorithm and B-spline algorithm, a new inverse B splineadaptive algorithm is given to solve the problem of multi-point fixed-point fast motion. Thesimulation results prove the effectiveness of the algorithm.Thirdly, in order to avoid obstacles and at the same time to make the whole path smooth andcontinuous, it gives three point arc algorithm and feature point solving algorithm.Fourthly, the thesis proposes a multi-segment pretreatment speed planning algorithm, andcombined with the linear acceleration and deceleration control to avoid repeatedly zero speedproblem during continuous micro-line path. The validity of the algorithm is verified by simulation.Fifthly, the whole control system and HMI is designed based on STM32chips, includingmain hardware circuit, data transmission format and resolution, system software as well as HMIdesign.Finally, briefly summarizing the whole thesis, and giving some suggestions to help furtherimprovement of the whole system.