Trajectory Planning And Motion Control Of 4R Manipulator Based On Single Chip Microcomputer

In industrial production, the use of mechanical hand can greatly reduce the burden of human labor, and the mechanical hand plays an irreplaceable role. The industrial manipulator combines mechanics with other disciplines, set the advanced level of various disciplines. Based on production and research needs, this paper will focus on the research of 4R model based on single chip microcomputer control, the kinematics analysis and dynamic analysis of this type of manipulator.For 4R manipulator with certain parameters, the model is simplified and parametric, the diagram draw of mechanism is drawn, the coordinate system is established, and the tip position equation of the manipulator is derived. In the actual control, the parameters of the manipulator are usually known and the position of the manipulator can be achieved, so this paper will also solve the motion equation of the manipulator system.In practical application, it is often required to avoid some wall obstacle, so this paper will study the trajectory planning based on robot manipulator kinematics, and set the end of the manipulator to carry out the space linear movement. The polynomial fitting method is used in this paper to find the driving function. And the influence of the trajectory of the two fitting and the three fitting on the accuracy of the manipulator end motion, and the influence of different density of the same order driving function on the trajectory planning are compared.In this paper, based on the 4R model, the software, Studio Visual 2010, is used as the development platform, and the graphics file of AP203 format are used as the data to compile the 4R manipulator motion simulation software based on AP203 which can conduct the verification of Manipulator Kinematics.In this paper, the 4R manipulator model system as a platform, the method of interrupt control on the manipulator is used, by using Visual Studio 2010 software development platform, PC control software is developed to control the manipulator system, the Objective of manipulator control can be realized. Through the experiment, the correctness of the kinematics analysis on the manipulator can be verified.In this paper, on the base of the completion of the manipulator kinematics analysis, the dynamic analysis of the manipulator is carried out and the dynamic characteristics of the 4R model are also obtained by using Adams. By using the platform of ADAMS, the trajectory planning problem of the 4R manipulator system is verified again.