Research On Control System Of 6-dof Manipulator Arm And Mobile Robot

When interacting with the environment, mechanical arm also needs to be stable, which is a challenge to the mechanical arm design. But the reality is that most of the mechanical arms have a fixed base, which is not be independent movement blocked mechanical arms toward multi-direction. This paper has a study of mobile robotics and six degrees of freedom robotic arm kinematics, which gives the ability of robots that can move and fetch independently.Firstly, we get the overall design of the robot system and split it into modules. Bottom of the system uses high-profile ATmega128 microprocessor as the core of robot motion control, and communication through the serial port, with six degrees of freedom robotic arm steering gear control panel QS16 E, to control of the robot arm. At the same time, to perceive the surrounding environment and the feedback speed requirements, installing infrared module, ultrasonic module, the Hall sensor speed module on the four mobile robot body. Using microcontroller via a wireless communication system completes the sending and parsing of crawling task.Secondly, we get the establishment of a four-wheeled vehicle kinematic coordinates, and analyze the positive inverse kinematics, which focuses on the establishment of six degrees of freedom robotic arm of the mathematical model through the classic DH method. Based on this mathematical model, we respectively analyze and simulate the mechanical arm track about joint coordinate space and Cartesian coordinates space planning, as a basis of the crawl arm action realization.Finally, the paper builds a mobile robot system development environment, completes the system program design, and performs an experiment of mobile robot self-walking and object-crawling. Test results show that the design in a lab environment can work properly and achieve the requirements of the design.