Study On Trajectory Planning And Control Of Hydraulic Manipulator

Manipulator to stabilize and improve the quality of industrial products, improveproduction efficiency,improve working conditions and the rapid upgrading of theproduct plays a very important role. With the development of industrial manipulatorsare being widely used in various industry, is becoming more and more high to therequirement of manipulator control precision, the research of manipulator trajectoryplanning and control is very important.This topic is to study an the hydraulic manipulator with four degrees of freedom. Itis a kind of mechanical and electrical hydraulics integration equipment, which iscomposed of multiple oil cylinder and mechanical arms, driven by hydraulic pressureand can complete the specified action. To solve the problem of hydraulic manipulatortrajectory control of intelligence, in this paper, the manipulator trajectory planning andoptimization, to achieve the predetermined line trajectory, and use the motion controllerfor each cylinder synchronization control manipulator.First, to the domestic and foreign manipulator kinematics analysis, trajectoryplanning method and research status of control theory and algorithm is carried outin-depth research.According to the characteristic of the structure, the four degree offreedom hydraulic manipulator motion, said by D-H method to establish the kinematicmathematical model for hydraulic manipulator, determining the key parameters. Usingthe homogeneous transformation matrix of the manipulator kinematics and inverseanalysis, combined with Matlab for computing analysis, greatly simplifying the processof solving; structural characteristics of the manipulator, the joint variables to determinethe geometric relationship between the corresponding cylinder. Secondly, using solidworks software for motion simulation to determine thehydraulic manipulator workspace for trajectory planning as a reference. Separately tothe different joint space and Cartesian space trajectory planning method for parsing.Combining with the characteristics of four degree of freedom manipulator motion andthe linear motion track of reservation requirements, to simplify the manipulator motionmechanism, using the combination between Homogeneous transformation matrices andMatlab, taking the minimizing of the sum of motion acceleration’s absolute valuemaximum of the forearm cylinder and the operating cylinder of hydraulic manipulatoras objective function; And taking the Large arm oil cylinder length as optimizationvariables, making trajectory planning optimization of nonlinear problem withconstraints, the manipulator moved according to the predetermine trajectory schemesmooth and steady, the optimal drive curves was obtained.Finally, based on Siemens SIMOTION C240motion controller for the hydrauliccontrol system for motion control of the manipulator. By studying the hydraulicmanipulator trajectory planning algorithm, the multi-cylinder synchronization control ofhydraulic manipulator is achieved gradually by single cylinder electro-hydraulicproportional position control method, and using C240motion to control theprogramming of the solving process. Studying the several common multi-axissynchronous control strategy, the synchronous control method of virtual axis method isproposed.