Design And Implementation Of A Manipulator Synchronization Control System Based On Joint Angle Detection

The development of the robot has achieved brilliant results being born.The robotic arm is a typical representative of a robot.It has a wide range of applications in various fields,not only liberating people's hands but also greatly improving the production efficiency;and in some special cases,it can replace people into working in a hostile dangerous working environment,and protect the safety of workers' lives.However,in many complex environments,robots engaged in complex operations cannot perform tasks autonomously but can only operate the robot arm manually.The completion time and effect of the robot arm depend on the operator's control directly.This topic aims to design a wearable robotic arm control interactive system to improve the availability and work efficiency of the robot arm in various complex environments.A robotic arm control system based on joint angle detection were designed and implemented in this paper.A wearable angular displacement sensor was used to detect the angle of each joint in the human arm to control the joint angle of the robot arm in the system.Realizing the precise control of the robot arm through the body's natural limb movement not only freed the operator's hands but also reduced the influence of environmental factors on the control effect.The overall design of the robot control system consisted of joint angle detection and data processing,controller,servo(robot body)control and upper computer man-machine interaction module.The system used the angular displacement sensor to converted the angle information of the human body's arm joints into analog voltages and then used the data processed by Kalman filter as the input signal of the controller.The incremental PID controller based on STM32 calculated the control signal of the manipulator based on the input signal and the angle feedback signal of the manipulator.The PC located on the PC side was connected to the STM32 main control board through the serial port,accepting and displaying the real-time joint angles of the arm and the robot arm,and improving the friendliness of human-machine interaction.In addition to the design of the robot control system,this paper also solves the forward/backward kinematics equations of the designed robotic arm.At the same time,Matlab Robotics Toolbox robotic toolbox was used to simulate its correctness,and the trajectory of each joint was drawn.Finally,the feasibility and reliability of the manipulator control system were verified by experimental tests.It has been verified that the control system of the robot arm has reached the expected design requirements and can control the robot arm effectively,stably and accurately.