Research On Six Degree Of Freedom Industrial Manipulator Control System

The mechanical arm is applied in many fields.This paper mainly analyzes the application of the manipulator in the helmet drilling,and the helmet drilling is actually the kinematics and dynamics of the manipulator system.In this paper,the KR30-3 model is used to study the kinematics and dynamics of the manipulator,and the joint axis of the KR30-3 model is adjacent to the joint axis.There are many vertical lines,so this paper uses DH method to establish its kinematics model.In this paper,we use matrix operation to find out the positive solutions of KR30-3 and 8 sets of inverse solutions,and select a set of inverse solutions for trajectory planning according to the optimal time.KR30-3 is a manipulator with six degrees of freedom.In order to simplify the calculation,the Lagrange method is used to establish its dynamic model.Both the kinematic and dynamic models are described by matrix.In the drilling process,the manipulator needs to plan the trajectory of the end actuators.The traditional path planning method is to interpolate the target trajectory.In the interpolation trajectory planning,the joint space trajectory planning is used between the middle points.The speed of the terminal executor can not be completely controlled,so the Jacobi matrix calculation is used in this paper.The velocity of each joint at the end of the end of each point of the target curve is achieved to achieve the complete control of the speed of the terminal actuator,and the simulation verification is carried out in the KR30-3 manipulator model.The simulation verification includes the straight line uniform trajectory planning,the linear variable trajectory planning,the arc uniform trajectory planning and the arc change.Speed trajectory planning.The results show that the manipulator can operate according to the desired trajectory when the end effector speed is completely controllable.The mechanical arm system is a highly complex nonlinear system,and the traditional linear control strategy is difficult to control it effectively.So this paper uses sliding mode variable structure control to control it,and simulates the KR30-3 model under the sliding mode control of three approaching laws.The result shows that the sliding mode control based on the constant speed approaching law is shown.The contradiction between the convergence speed and the tremor is obvious,and the contradiction between the exponential convergence law and the sliding mode control based on the power convergence law is optimized.In order to further enhance the anti-interference ability of the sliding mode control,the fuzzy control and particle swarm optimization are used to optimize the sliding mode control based on the digital approximation law.It also compares the two aspects of the rapidity and stability of control.The results show that the sliding mode control after fuzzy optimization is faster than before,and the sliding mode control of particle swarm optimization is faster than the fuzzy control.In this paper,the stability of the three sliding mode control is compared with the stability of the stable S curve.The results show that the stability of the sliding mode control after fuzzy optimization is stronger than that of the exponential approach law.The anti-interference ability of the sliding mode control with particle swarm optimization is stronger than that of the fuzzy control.