Control System Designlmplementation Of 3-DOF Robot Manipulator

As one of the robotics research issue, Manipulator is more and more important whether in industry or in the other fields. With the rapid development of China’s economy, the national research gives much support for the development of manipulator, and investment in manipulator is increasing day by day.With the development of the Internet, China proposed the "made in China 2025" and "the Internet industry".Meanwhile, three degrees of freedom manipulator developed rapidly.The research object of this paper is to design control systemof manipulator on the basis of carrying threedof manipulator. This manipulator controller was designed based on ARM as the core.Three degrees of freedom, it is based on the joint type stationary carrying manipulator.The main content of this essay is to talk about how to design and control the system of manipulator. In this dissertation, on the basis of the original three dof manipulator, the mathematical modeling and the design of the controller of the Android APP are shown.Hardware and software design of the manipulator trajectory control algorithm are also included.The main contents are as follows:(1) In this dissertation, on the basis of the existing three dof manipulator, the mechanical structure three dof manipulator is analyzed, and based on the d-h method to establish the forward kinematics and inverse kinematics model of the manipulator.In addition,this article is based on Newton-euler’s formula method and Lagrangian method and on the basis of the existing three dof manipulator,kinematics and dynamics model is established.(2) Based on the study of the dynamics and kinematics of manipulator, in order to have a faster tracking speed, trajectory tracking performance and avoid the interference of 3 dof manipulator itself uncertainty based on sliding mode control algorithm under the premise of further research, and puts forward the sliding mode control based on high-gain differentiator single joint manipulator trajectory tracking control algorithm.MATLAB simulation shows that the proposed sliding mode control algorithm based on high-gain differentiator can reach the goal of fast tracking and anti-interference performance.(3) The three degrees of freedom robot control system based on ARM is introduced in the hardware design and software development, and based on the design and development of the Android APP.Three degrees of freedom manipulator system controller hardware can be divided into the power supply module, the CAN module, PWM signal processing module, serial port module and WiFi module.Software system including the manipulator control system controller and interactive control software design and development as well as the design and development of the Android APP.The control system such as low cost, performance is very high, and can be controlled by mobile phone, tablets and other mobile terminal to remote control the movement of the manipulator by the APP.