Based On The Kinematics Of Robotic Arm Motion Control

Robotics is the automatic control principle, kinematics algorithm and contemporary visual image processing and some other high-end technology together, it covers a very wide range of disciplines, including mechanical principle, information and communication technology, kinematics, dynamics, image analysis and processing, and a variety of fields such as automatic control theory, is currently the world one of the most popular direction of scientific research, is a national comprehensive technical level and the degree of automation.Therefore, the in-depth study of modern robot subject to the progress of a country has a very critical role.This system uses the six degrees of freedom mechanical arm, composition of the manipulator system mainly has four parts, respectively is the fuselage, arm, wrist, and terminal operator.The mechanical arm is made of six automatic metal components on the steering gear, and again to the mechanical structure of mechanical arm with the theory of steering gear control measures for concrete structure analysis, designed the automatic control system for robot arm.Main content of this paper:Firstly,theoretical analysis and solution of robot kinematics, through the binocular vision system determine the spatial coordinates of the object, at the same time know operator at the end of the mechanical arm posture, through the analysis of kinematics, the FPGA controller should calculate each steering gear rotating Angle, so as to issue instructions and control the whole mechanical arm in the realization of the target object within a prescribed space grab.Secondly,Design can effectively control the manipulator control system.The hardware part of the implementation of the scheme of this system USES the modular design, will be divided into chip, power supply, remote control, monitor and drive five parts, and separately for each part of the analysis and research, which will be functional decomposition, reduces the coupling between each module.Software of control system is also changed, abandoned the previous used in PC control software, simply use the specifically designed for mechanical arm of six degrees of freedom mechanical arm control system can realize the real-time control, the control for the Cyclone IV series FPGA as control chip.This design system prove the feasibility of the FPGA to control the mechanical arm, and achieved the predetermined experimental requirements.