Research On 6-DOF Manipulator And Its Control System

With the development of science and technology and the progress of society,the application of robots is more and more extensive.Now it has been gradually extended to industrial field,manufacturing industry,human daily life,school education and teaching,hospital medical diagnosis and almost all areas of our daily production and life.Manipulator is the main actuator of robot,which has the characteristics of time-varying,strong coupling and non-linearity.Traditional manipulator control systems mostly adopt DC brushless motor motion control system based on PID control strategy,which results in poor tracking performance,severe end jitter and no ability to resist load disturbance.Based on the traditional manipulator control system,the PMSM motion control system based on ADRC control strategy is proposed as the manipulator control system,which has high tracking accuracy,strong anti-internal and external disturbance ability,and the use of PMSM can effectively avoid the problem of large torque ripple caused by the use of DC motor in the traditional manipulator.On the basis of reading a large number of domestic and foreign literatures,this paper makes a detailed analysis of the development prospects of the manipulator through the understanding of the current research situation of the manipulator.The forward and backward kinematics equations are solved in the Robotics Toolbox toolbox of MATLAB,which verifies the correctness of the structure of the manipulator in this paper,and also obtains the joint driving quantity when the manipulator works.At the same time,the trajectory of the manipulator is planned by using mathematical statistics in Matlab,and different trajectory planning methods are compared to find the trajectory planning scheme suitable for the design of the manipulator in this paper.After completing the structural design and simulation verification of the manipulator,the driving principle of the manipulator is further explored.PMSM with good performance is selected as the driving motor at the joint of the manipulator.Through the analysis of the mathematical model of PMSM,the fundamental reasons for its non-linearity and strong coupling are found.The PMSM three closed-loop motion control system based on ADRC control strategy is redesigned to achieve precise control of the manipulator.According to the above research results,the simulation experiment is carried out,and the overall model of PMSM motion control system based on ADRC control strategy is built in MATLAB,and the design scheme of this paper is verified.At the same time,on the basis of simulation,a high-speed digital signal processor is used as the core to build an experimental platform.The correctness and effectiveness of the proposed control system are verified by combining simulation with experiment.