Research Of Industrial Manipulator Control System With Five Degrees Of Freedom Based On FPGA

Robot science is a comprehensive study of categories related to many scientificfields. Research on manipulator is one of the branches of the robot research, whichinvolves mechanical structure, measurement and control technology, computerapplications, control engineering theory, intelligent multiple disciplines control, bionics.so the highly cross subject is also on behalf of the electromechanical integrationtechnology development trend, which is highly integrated, highly intelligent.Development of robot science is an important step in a big manufacturing country to apowerfulTo begin with, according to the industrial structures of the five degrees of freedommanipulator model mathematical modeling, then analyzes its forward and inversekinematics, emphatically introduces the inverse kinematics solution, proposed a newoptimization method to optimize the group inverse solution, and discusses the pathplanning problem of manipulator in the joint space and Cartesian space, then thehardware and software parts of FPGA-based control system are described in detail,finally, using Robotics Toolbox and SimMechanics Toolbox to do the simulation andverification of critical research aspect.The paper analyzes the inverse kinematics solution of the5DOF manipulator byanalytical method, the specific operation process are presented detailed, the analyticalmethod is easy to be realized in the embedded processor, high calculation precision. Atthe same time, a detailed analysis of the control system of industrial mechanical arm isdescribed, according to the specific control requirements, select the embedded processorplatform FPGA as lower machine controller, most complete control task, motion controldata receiving, processing, adjustable duty ratio PWM etc..Joint operating speed discontinuous easily lead to shock at the beginning and endstages for the common trajectory planning. This paper presents a parabolic transitionlinear interpolation method for joint space trajectory planning. Matlab scriptinglanguage embedded in Labview via a host computer to realize the operation. At thesame time, this paper introduces two important problems of trajectory planning inCartesian space.Finally, through the comparison of various simulation tools. The final choice will bea function of the robot kit for secondary development. Use Simulink SimMechanics tosimulate the kinematics and trajectory planning of the content.