Design Of Arm-Based Three-Axis Manipulator Control Systems

Recenly, with the development of industrial automation and the growing labor shortage, the demand for industrial manipulators will increase. Certainly, this will lead to further research and development of the manipulator. With the improvement of flexibility, the manipulator will complete more process. Thus, a lot of labor will be saved. At the same time, the manipulator with more servo motors is beneficial to improve its precision. Because of high precision, the core competitiveness of enterprises will be improved.The designed mechanical system has three axes. In order to improve precision and speed of the manipulator, each axis is driven by a servo motor. This dissertation analyzes the research priorities of manipulator control systems at home and abroad. In the three-axis manipulator system, a lot of problems are studied in detail, such as the servo system modeling, trajectory tracking algorithm, human-computer interface design, system implementation and algorithm experiments. The results are as follows:Firstly, this dissertation introduces the servo system and modeling method. With the analysis of three-asix manipulator, a manipulator control system model was established.Secondly, the trajectory tracking algorithm was researched, such as H∞control and iterative learning control. Accordingly, the servo control system design method with H∞feedback control and iterative learning feedforward control was propsed. Then, the effectiveness of the algorithm was verified through the simulation.Thirdly, the hardware circuit of three-asis manipulator control system was designed. It mainly includes a power supply module, a communication module, a signal detection module, a pulse module and a SPI memory module. Finally, the reasonableness of hardware design was verified, through the hardware debugging.Fourthly, the sofeware of three-asis manipulator control system was designed. It includes system initialization, teach and trajectory planning. In addition, through the design method of DWIN-HMI, the teach control interface of three-asis manipulator was designed. Finally, the system was tested. Fifthly, a serial port interface of data extraction was designed by Lab VIEW. The algorithm proposed by third chapter was verified, through the collection and analysis of the tracking error signal.Sixthly, the research work was summarized and the content which would be improved was proposed.