Research On Optimization And Trajectory Tracking Control Of Manipulator System

With the continuous development of economic and medical level, human beings can treat more and more diseases by surgery, as well as the related surgery procedures is more complicate, the accuracy and stability requirements are also getting higher and higher. In the face of such a high precision and complicated procedures, the human invented surgical robot. Surgical robot can achieve an unprecedented precision control of the surgical operation, it is quite important on the development of human civilization, so it will have a very broad market prospects.The control precision and stability of the robot is higher than that of the traditional industrial robot, and it also requires a large working space, fast response speed and good flexibility. In the performance index of the robot, the motion accuracy is very important. It is the precondition of the robot to complete the operation task. However, due to the geometric errors, environmental noise and control algorithms and other factors, there is still a big gap between the performance of the robot and the expected high accuracy motion performance, which makes it difficult to design a high performance control system Therefore, it is very important to study the key technology of improving the motion precision of the robot.In this paper, seven degree of freedom series manipulator is used as the research object and the experimental platform. The method of theoretical analysis, experimental verification and simulation is used to study the relative technology.Firstly, it analyzes the kinematics of the seven freedom degree manipulator, and its kinematic model is established, and then the forward and inverse kinematics equations are derived.Secondly, it analyzes the main reason of the phenomenon of the robot arm movement and put forward the corresponding hardware and software suppression schemee. Using software to design a frequency and duty ratio can be timing adjusted and high precision pulse generator, which improves the control stability; it adds a simple and practical intel igent adjustable voltage circuit in joint control, as for compensation method to reduce the manipulator kinematics error, optimize the joint position closed-loop control.Then, in the case of not changing the mechanical structure, the joint space and Cartesian space of seven freedom degrees manipulator are established by using neural network. The joint angle value of the robot arm is obtained by mapping relations, and the inverse solution of the manipulator can be obtained quickly. At the same time, the fuzzy PID controller is designed to solve the problem of automatic control system.Then, through the Kinect sensor bone tracking technology and the host computer signal processing and control, a human body and the actual robot arm to carry out the way of remote interaction. In program design, the joint angle of the human arm is obtained by calculating the angle of space vector, which makes the calculation simple and rapid, while avoids some boundary conditions to be considered in the calculation of the plane angle. After obtaining the control joint angle, the control effect of the joint angle is reduced. A weighted moving average algorithm is used to filter the noise and outliers.Finally, the robot simulation platform is built, and the motion simulation of seven DOF Manipulator is carried out on the platform.