The Motion Trajectory Planning And Control Method Of 4R Muti-joint Manipulator

Articulated manipulator is a high degree of flexibility and versatility, and is the important branch of development robotics. With the widely used of the manipulator, the control accuracy of the manipulator is highly demand, the study of the trajectory planning and control of the manipulator is very important.Based on the loading and unloading manipulator used in crankshaft machine, analyze the Kinematics of the manipulator and the end- pose deviation and plan its trajectory based on the work space, finally, use the SIMATIC T-CPU as a motion controller for manipulator control, to make the joints manipulator can complete the loading and unloading tasks accurately.Firstly, based on the work space and the requirements of this task, choose the open chain 4DOF joints manipulator and determine the parameters of the manipulator links, then draw the mechanism sketch. Establish a mathematical model by D-H method for 4R manipulator, deduce the kinematic equations and solve out every angle of 4R joint manipulator.Establish the end-pose deviation model of the loading and unloading manipulator by Matrix differential method based on the analysis of kinematic. Compare manipulator deviation influence produced by the link length deviation and the angle deviation. Analysis shows that angle deviation had bigger influences on end-pose deviation.To plan the trajectory in the joint space according to the job tasks of manipulator, select coordinate by its running path points and determined each joint angle by the inverse kinematic equations, calculate its trajectory equation based on cubic polynomial interpolation.Finally, use the SIMATIC 315T-2DP CPU as an axis motion controller and IM174 as acommunication module to connect the controller and the servo motor, according to hardwareconfiguration, process configuration and prepare program based on the Step7 and TechnologyPackage, to achieve the manipulator take an interpolation movement along the trajectory.The manipulator studied in this paper is closely links to the actual production, provide thereference data for the design and manufacture of 4R joint manipulator, it has provide amethod of modular control and has a certain reference value.