Research Of Robot Arm Control Based On Vector Font

At present,the robot technology plays an important role in industry and our life,which is the important research direction now and future.Compared with foreign advanced robot industry,robot technology development in our country needs continuous study in our country,which attracts attentions of the government and society supporting the development of the technology.The writing robot arm has the basic characteristics a general robot have,including trajectory planning and other basic knowledge,which can be applied to the sculpture,painting and so on.According to the research status home and abroad based on lots of materials,a type of 5-DOF robot arm was designed as an experimental prototype for the sake of application.Then the theoretical basis of the robotics including kinematics,workspace and trajectory planning was described.The mathematical model based on the robot arm was built including 3-D simulation based on Matlab,which verified the theoretical analysis.The study of fonts coordinates extraction provided a method of path palnning for robot arm.The study and simulation of control algorithm for robot writing were researched.The exeperimental platform was constructed and also the test of the writing was done.The main research work is as followings: The connecting rod coordinate was established and D-H parameters were obtained based on the 5-DOF robot.The obverse and inverse kinematics formulas were deduced and also the simulation based on matlab robot toolbox including establishing 3-D model,workspace,Cartesian space and joint space trajectory planning was performed.Then coordinates extraction of the the vector fonts including TTF format vector fonts,SHX format vector fonts and vectored dot characters was studied.Also,the simulation of control algorithm including trajectory control and pose planning on labview were made.The joint data was obtained according to the pose of path point.The experimental platform was built based on the method of robot arm control.The WiFi technology was applied to send the joint date to the controller to control the robot arm to conduct some experiment.