Fuzzy Control Of Seven-DOF Manipulator GAMMA300

The main object of this type is GAMMA 300 Manipulator,It is a seven-axis manipulator which having one redundant degree of freedom,design and production by the ROBAI company in the United States.the main object of study in system modeling, forward and inverse kinematics, dynamics, trajectory planning and trajectory tracking control method analysis and research aspects.On the basis of the analysis GAMMA300 arm configuration and combined with mathematical theory for the manipulator pose transformation, using of D-H method to establish a manipulator coordinate system. And use forward kinematics, deduced the forward kinematics solution to GAMMA300 manipulator. On the basis of the establishment of the right forward kinematics equation, using an algorithm obtained by the inverse transform derived inverse kinematics of the GAMMA300 manipulator. And use of the Robotics Toolbox based on MATLAB, to test and verify the kinematic analysis about the GAMMA300 manipulator correctness by simulation. For manipulator trajectory planning,In the joint space,using of third degree polynomial interpolation algorithm and five degree polynomial interpolation algorithm carry on trajectory planning simulation for the GAMMA300 manipulator. Linear programming and circle programming in Cartesian space.In dynamic analysis, introduces the Newton- Euler method and Lagrangian and Lagrange method to obtain multi-joint arm of General dynamic equation. from the perspective of fault tolerance about redundant manipulator, some joint fixed arm of the manipulator and appropriately simplified model of the manipulator, using of Lagrange derived the equation of motion after the simplified method Manipulator. Using of fuzzy control accomplish trajectory tracking control, combined with practical experience manipulator, design the GAMMA300 manipulator fuzzy controller and Simulink module for tracking control simulation, This type of fuzzy controller for manipulator trajectory tracking control of the correctness andfeasibility of simulation analysis and verification.