Development Of6-DOF Manipulator Control System Based On Motion Control Card

Robot is a typical mechatronics product and Robotics is a subject in automation area that global academics foucs on. Robot technology cover down many subjects such as mechanical design，information processing，electronic control, process control and so on. In order to allow the robots to complete a specific servo task, some algorithms are presented to calculate the driving force and acceleration of every joint.In this paper, motion control system of6-DOF manipulator is completed bymaking use of the organic combination of GTS motion control card and PC. An open experimental platform is built in this paper. High-performance servomotor from Japan Mitsubishi and Green harmonic reducer are combined to drive all the joints of the robot in this project.Inverse kinematic problems and path planning of the robot are studied preliminarily and improved simply based on the analyzing of the basic structure and performance of6-DOF manipulator. D-H model is proposed to analysis the link parameters of a robot in the research. In Cartesian space, linear trajectories and arc trajectories of this robot are discussed deeply. A epistasis software for driving6-DOFmanipulator based on motion control card is developed in the end of the project.