Study On Characteristic Simulation And Nonlinear Control Of Series Manipulator

The development level of robot technology is one of the important symbols to reflect the degree of industrial automation in a country.Its development and application quicken the pace of productivity and bring great convenience to people's life.At present,the development and research of robot technology is also regarded as a key scientific research project in our country.As a result,more and more research experts and scholars are engaged in this research.The development of robot technology is as prosperous as sunrise.In this paper,a type of serial manipulator which is the most widely used robot in industrial field is studied in detail.The main characteristics of the manipulator are analyzed from the point of view of the basic theory of the manipulator.The kinematics and dynamics modeling of the series manipulator are carried out by using these theories.The kinematics equation of the simulation model of serial manipulator is simulated and verified with the help of Robotics Toolbox robot toolbox component in MATLAB,and the trajectory planning simulation analysis is carried out in the running space.At the same time,Monte Carlo method is used to calculate and analyze the operating space of the manipulator in MATLAB environment.The effective characteristic data of the manipulator can be obtained by simulation,which provides important theoretical support for the structure design and control system design of the manipulator.Aiming at the design of mechanical control system,the independent PD control method and PD calculating torque method are used to simulate the control system design of series manipulator,and the effective control effect is obtained.The feasibility of the application of these control strategies in the series manipulator control system is demonstrated.Finally,in order to further understand the effectiveness of design of the control system of the series manipulator,using the computer virtual simulation technology,directly using the three-dimensional drawing software Solidworks to draw the three-dimensional model of the series manipulator.It was imported into the multi-body modeling and simulation software ADAMS,and then the simulation experiment of the control system of the manipulator was set up jointly with MATLAB,and desired experimental results were obtained.Because the modification of the manipulator model system can be easily realized in the virtual environment,and a large amount of calculation and derivation process is saved,the development cycle of the manipulator can be shortened effectively,and at the same time,the development cost can be saved.It provides an effective way for the research and development of serial manipulator.