Design And Research Of Seven-Dof Manipulator Control System

With the development of artificial intelligence and industrial production, industrial robots and rehabilitation robots is becoming more and more popular, manipulator as the main moving mechanism, the Multi-DOF manipulator in humanoid motion,obstacle avoidance, weight, load capacity, flexibility and completeing complex tasks become a much important research area. In this paper, on the basis of the laboratory project named manipulator, seven DOF manipulator control system was designed and developed, which can realize to the seven degrees of freedom mechanical arm motion control and path planning.Seven DOF manipulator control system was designed in this paper, which based on distributed CAN bus solution. Firstly, manipulator kinematics model was framed by Denavit-Hartenberg parameters method, forward kinematics was derived, since the numerical solution of inverse kinematics has more solutions, Newton iterative method was designed for selecting the optimal solution. On this basis, the difference of five and times was designed in the joint space, in Cartesian space, space straight and a circular path planning algorithm are designed. In the next, hardware design, control circuit and bus systems were detailed introduced, Software control system focuses on the host computer software system, angle sensor system, communication protocol.In order to verify the performance of seven DOF manipulator's control system, a large number of tests have been done.First, to verify the accuracy of the inverse solution based Newton iteration algorithm, the test results of manipulator's inverse solution were analyzed. Second, during the arm installation process, the components that installed to be tested to ensure that components work correctly, when a single joint is installed, it also need to be tested for ensure that system is normal before each installation of a new joint. Third, the size of each joint manipulator were calibrated, joint manipulator modeling parameters was calculate, which was prepared for optimize the process of subsequent error. Fourth, to achieve controling the robotic arm by software accurately, communications systems was tested to ensure that the joint can be normal communication; control interface of each functional were tested, which ensure each key to achieve its corresponding function. Fifth, system testing can be done to ensure that the user specifies arm action, a variety of actions were designed to test whether the robot arm can be completed. Sixth, to test the accuracy of the robotic arm and error, compareing coordinate of point in arm motion path that designed with the point in the actual coordinates of the coordinates, analysis and calculation errors.