Design And Development Of Robot Arm Control Platform For EOD

With the rapid development of social economy in the new century,public security is facing new challenges,and various terrorist attacks occur frequently.The EOD robot can replace people to perform dangerous tasks such as inspection,EOD,effectively protect the personal safety of people.The goal of this paper is to design a robotic arm control platform for an exterminating robot capable of semi-autonomous catching of an extinction robot.Mainly from the arm kinematics,trajectory planning,work space and control platform to build four aspects:(1)for the first six degrees of freedom manipulator of a particular configuration of the mathematical model,the D-H method and the homogeneous transformation method combining forward kinematics of manipulator;calculate partial differential of kinematics,calculating the Jacobian matrix,and the Jacobian matrix inversion to inverse kinematics of the manipulator are analyzed.The Simulink simulation platform is built completely,and the correctness of the kinematics is verified clearly.(2)the second study of manipulator trajectory planning algorithm without obstacle trajectory in the case,based on the four key points as an example,using three B spline curves were fitted to the four point,and calculate the curve with time t equation,one order and two order derivative respectively.For this equation,get the trajectory of the T velocity and acceleration equations,such as the interval,combining kinematics,to generate a list of PVT,complete the trajectory planning of mechanical arm.(3)and then explore the workspace of the manipulator,Monte Carlo method is used to randomly generate a series of random points,combined with the kinematics of the manipulator,complete set of calculation points in the workspace,and the point cloud in the MATLAB and OpenGL in the form of depicting the workspace of the manipulator.(4)Finally,a complete robotic arm control platform is set up and equipped with a 3D simulation model of OpenGL,which integrates the kinematics,trajectory planning,work space and motion control of the manipulator.After a series of experimental results show that the robotic arm control platform designed in this paper can realize robotic semi-autonomous grasping with sensitive response and high control precision,and the error of each joint is controlled within 1 °...