Control System Design Of3-DOF Robot Manipulator

The research object of this thesis is autonomous fruit harvesting robot. It is a special kind of mobile robot system with a3-DOF manipulator fixed on a small car which can move in any direction. In this system, the design and control of the3-DOF manipulator is the most critical part. About autonomous3-DOF manipulator, the thesis is mainly about modeling, controller design and simulation and hypogyny computer hardware and software systems design and development. Details are as follows:Firstly, with regard to modeling, based on the analysis of3-DOF manipulator mechanical structure, the kinematics and inverse kinematics equations are built by using D-H method. In the joint space, the manipulator trajectory planning is carried out by using polynomial interpolation. According to the mechanical relationship of the joints, the dynamic model is built by using the Lagrange method and the Newton-Euler method respectively.Secondly, in the analysis and design on controllers, in order to take full advantage of the mathematical model and to fully weaken the effects of uncertainty, the adaptive controller of robot manipulator trajectory tracking using fuzzy compensator is designed after analyzing various control schemes. The results of the MATLAB simulation show that the FLS(fuzzy logic system) designed to compensate the uncertainties according to certain rules is very well and the proposed method has good control performances.Finally, hypogyny computer hardware and software systems design and development are described. The development of the hardware system mainly includes control system and driving system. The development of the control system mainly includes power source module, processor, wireless communication module, USB communication module, limit switch module, interface module and so on. The development of driving system mainly includes the selection of driving chips and the design of interface of C8051F021and driving system. The systematic software mainly is the underlying software. Underlying software is the guarantee of achieving the function of hardware system.