Study On The Production And Control Of Mechanical Arm Designed For Portable Robot

With the development of robot technology,the manipulator control technology as a branch of the robot technology has increasingly become a research focus of robotics.In order to complete the operation of the remote manipulator control task,the paper introduces the structure design?the simulation and the control system based QNX.Controllers can control the manipulator by remote control to complete the tasks.QNX system development platform for C language development tools,five degrees of freedom manipulator control system is designed and implemented.The system not only meet the control requirements of the robot arm,and with a wide range of versatility,change control objects only after a small amount of renovation can meet the new requirement of the control.This article describes the five degrees of freedom manipulator from the manipulator modeling,system hardware design and system control software.First,establish the kinematic equations of the robot arm,a manipulator inverse kinematics algorithm based on the position of the joint changes and performance indicators,to search for the optimal solution by minimizing the performance index.Simulation results show that the algorithm is fast,high precision solver,to meet the real-time requirements of the system.Secondly,we have studied the hardware design of the system in the control and development goals of the system on the basis of the overall design philosophy of the system hardware,and detailed analysis of the hardware part of the system functionality and implementations,the design of the communication network structure,network is determined according to the communication.Finally,elaborated on the basis of the system control system design,QNX system features,the overall design of the control system software developed PCI bus device drivers and communication network program.And then on the basis of analysis of the QNX system multithreading features,design a multi-thread structure of the control system,and according to the characteristics of each thread tast set thread task set thread priority and scheduling policy.The experimental shows that Portable robot can accomplish the purpose of the experiment successfully.