Research On Automatic Detection Manipulator Control System Of Vehicle Mounted Bridge Structure

In this paper,the manipulator of the vehicle-mounted bridge structure detects is used as the research object,selects the control scheme that based on PCI Motion control Card and Industrial PC as the opening control system.Setting up the manipulator's test platform,Designed and constructed the four joint series manipulator's motion control system.This paper mainly studies the following aspects:(1)On the base of analyzing the basic structure of the manipulator,establishes the mathematical model of serial manipulator,using the D-H method to establish a homogeneous matrix,obtained kinematics equations of the robot arm,and derived by inverse transform method in solving inverse kinematic equations.(2)In the joint space and Cartesian space coordinates of the manipulator,linear and circular trajectory planning and trajectory planning of B spline curve is studied,the mathematical expression is derived to construct linear and circular and three-dimensional space curve.The manipulator trajectory planning and kinematics simulation are carried out in the Matlab software Robtics toolbox to verify the correctness of the kinematics forward and inverse solutions(3)The hardware platform based on PCI motion control card and industrial control machine is built.The hardware parameters and wiring of the control system are introduced in detail.(4)Based on the kinematics model and trajectory planning algorithm of the manipulator and the Library function from the motion control card,adopt a programming approach to the object,On the platform of Windows,using the.NET finished the controlling system software of the serial manipulator.