Cyton Gamma 300 Seven Dof Manipulator Inverse Kinematics Analysis And Control

Along with industrial development and the progress of science and technology, mechanical arm has been more and more widely used in industrial production. The study of mechanical arm used to improve the work efficiency and operating performance. And control theory of mechanical arm kinematics, path planning and study of mechanical arm is the important basis of mechanical arm. For the above problems, we take the Cyton Gamma 300 seven degrees of freedom mechanical arm, which produced by United States ROBAI company, as the research object mod eling and simulat ion.Firstly, we established the C yton Gamma 300 with seven dof manipulator kinematics model in accordance with the Denavit-Hatenberg method. Then through the model, we got the forward kinematics equation of mechanical arm. Finally, we obtained the forward kinematics solution of mechanical arm. According to Denavit-Hatenberg method, applied the analytical method, we obtained the inverse kinematics solution of mechanical arm. Then we invoked functions of link and robot of robotics in MATLAB’s Toolbox, to obtain the Cyton Gamma 300 with seven dof mechanical arm’s model. In the end, we verified mechanical positive and inverse solution were correct or not. The result showed that the kinematics equations were correct. On the basis of kinematics, dynamic model of mechanical arm was established by using Lagrange function.Mechanical arm manipulator trajectory planning has a vital influence on the rapid, stable, accurate action of Mechanical arm. In order to increase the stability of the mechanical arm in the joint space, reduce impact and vibration, we must ensure that each point of the joint angular velocity, angular acceleration even jerk function are continuous. We need transform the arm’s position into joint Angle through the inverse kinematics equation of mechanical arm. Applying polynomial interpolation and sine function to obtain all joints’ track, then analyze advantages of them. Mechanical arm controller acts as the "brain". It controls the mechanical to complete the task by using proper co ntrol algorithm.According to the dynamic model of mechanical arm through Lagrange function, we got dynamics equation of mechanical arm. Then input the trajectory by combination application of asymmetric sine function curve as a reference curve, We designed a robust controller Based on robust control principles. Then we transformed the robust control into the optimal control. Eventually, we Design a robust optimal controller.