Design And Implementation Of Manipulator System In Glovebox Based On DSP

With the development of aerospace technology, it is gradually speeding up the process of exploring outer space, and more space science researches are allowed for a thorough study. Some space experiments are needed to use the sealed experimental facilities, because the microgravity environment in the outer space will lead to many problems. Meanwhile, many experiments which require the delicate operations can not just rely on the manual operation of the astronaut, such as the micro-nano experiment, the biological and medical experiment. So it is necessary to install the robotic manipulator in the microgravity glovebox to help astronauts accomplish the experiments. In the glovebox that installed the robotic manipulator, experiments can be operated by.the researchers in the ground via the remote video surveillance. In this paper, the modeling and attitude control of the robotic manipulator that installed in glovebox are studied. A manipulator system in glovebox based on DSP is designed and implemented.Firstly, the models of robotic manipulator in kinematics and dynamics are analyzed. Considering the constraints of manipulator kinematics, the operational space of manipulator is described by the Denavit-Hartenberg method, and the forward kinematics with the joint angle variables is obtained. The complete analytical solution of the inverse kinematics of the robotic manipulator is obtained through the analytical method of inverse matrix multiplication. The dynamic equations are derived, and simplified by the Lagrange system.Then, the appropriate attitude control algorithm is designed for the manipulator dynamic model. The control level and the control strategy of the manipulator control system are studied, and a robust adaptive PD control algorithm is proposed under the PID control theory. The feasibility and stability of the algorithm are analyzed. Through the simulation experiments, the algorithm is proved that it has good dynamic performance and high steady-state accuracy. Finally, by combining the environment of the glovebox and the dynamics model of robotic manipulator, the overall structural design of manipulator system is completed. Afterwards, the designs of motor drive module, DSP system, sensor acquisition and processing are completed. After debugging the hardware and software of the manipulator system in glovebox, it could be ensured the precise moving operation and steady attitude control.