Modular Joint Control Technology Of 6-DOF Manipulator

For the reason of few relative researches in our country on the modular manipulator joints, this paper mainly study the manipulator modular joints control technology. First, take the six degrees of freedom manipulator composed of modular joints, parallel axis and vertical axis connecting rods as research object analyzed the control basis. Then take the modular joint as research object achieved the modular system integration and designed the overall control structure, implemented the simulation optimization of the modular joint control system and provide theoretical basis for the application of modular joint control technology.In the aspect of 6-DOF manipulator control basis, we take D-H parameters to implement forward kinematics solutionand use Matlab Robotic toolbox to establish forward kinematics mathematical model and realized simulation. Analyzed of the problems occur when take analytic solution to deal with the manipulator inverse kinematics and put forward an inverse kinematics solution based on BP neural network algorithm, established it’s mathematical modeling and implemented the algorithm simulation, which introduced a new way of thinking for manipulator inverse kinematics solution. On the basis of forward and inverse kinematics model, conducted the trajectory planning in manipulator joint space and Cartesian space, at the same time realized the algorithm simulation analysis. In the joint space conducted three times polynomial and high-order polynomial interpolation algorithm simulation analysis, in the Cartesian space conducted space linear interpolation and space circular arc interpolation algorithm simulation analysis, analyzed the position and pose of the manipulator tail end in each path points. In the aspect of manipulator dynamics, took the modular joint as research object established the Lagrange equation and specific analyzed the dynamics of manipulator forward problem and inverse problem. Combination of the 6-DOF manipulator in this paper, conducted dynamics simulation based on joint space trajectory in Adams, then got the simulation data of joint driving moment under the condition of each joint speed was given, at last laid a theoretical foundation for the manipulator trajectory tracking control.In terms of modular joint control system, first we have carried on the modular joint internal system integration design, then presented the distributed control systems based on the CAN bus, determined the arrangement of wire and hardware specific layout within modular joint. Took the modular joint DC servo motor as research object, conducted three closed loop of the position-speed-current controller design, took Matlab/Simulink to establish the mathematic model of three closed loop controller and implemented simulation. Then aim at the three closed loop control system, presented a new method of using fuzzy adaptive PID controller to adjust and optimize the three closed loop control system. At last designed the fuzzy PID controller and carried out its simulation, implemented the optimization design of the modular joint control system, provide the theoretical basis for the application of modular joint control technology.