Design Of Manipulator Servo Control System Based On DM6446

With the development of science and technology,more and more attention has been paid to the field of robotics,and robot technology has an significant influence on people's production and life style.Along with robot technology,the robot visual servo technology introduces visual information through camera and other visual sensors,so that the robot can obtain higher perceptual ability and more flexibility,and it can also accomplish more complex work in a variety of occasions.The object of this paper is the RM-501 manipulator,which is used as an actuator to set up visual servo control system based on position,and control the end of manipulator to achieve dynamic tracking of the moving target.First of all,establish the mathematical model of the manipulator and the moving target,and make kinematics analysis of the manipulator according to tracking quota and real-time requirement.The forward kinematics analysis uses D-H method to determine the relationship between the rotation angle of the joints and the position of the end of manipulator,and the inverse kinematics analysis uses geometric method to calculate the rotation angle of each joint according to current position of the manipulator.In the part of motion control,derive the joint model of manipulator and design double closed loop control system with position loop for the outer ring and speed loop for inner ring.The traditional PID control method is used in control law,and control module is built and debugged in Simulink environment,multiple joints movement can be realized at last;In the part of visual image processing,Davinci digital media system on chip IC ETEK-DM6446-B is used as hardware platform,write the program of image processing based on background subtraction in Code Composer Studio,to extract the feature vector of moving target;Moreover,the position information of the moving target could be transformed into the desired rotation angle of the joint motor through vision controller.Finally,semi physical simulation of the RM-501 manipulator is carried out under the environment of RTW Matlab,to verify the rationality of the design of manipulator servo control system,and analyze the comprehensive performance of the system according to the actual debugging results.