The Study On Motion Control System Of A Six DOF Manipulator

With the continuous progress of automation technology and the continuous expansion of market demand,as the outstanding representative in the robot field,the application of industrial robots is more and more widely,as the core control module of the manipulator,its importance is self-evident.The large-scale investment of major automation manufacturers and system integrators and the policy guidance of governments indicate that the research on industrial robots and their control systems will be further studied.In this thesis,the six-DOF manipulator named XIOPM is designed and assembled.The Denavit-Hartenberg standard modeling method is used to calculate the DH parameter table and kinematics equation of the manipulator.The inverse of the motion equation is deduced by analytical solution.The kinetic equation of the manipulator is derived based on the Lagrange energy-work balance method.On this basis,starting from the structural design,the paper analyzes the key indexes of the manipulator,completes the selection and purchase of the key electronic components of the manipulator and finally determines the PC/IPC + motion controller(PMAC)+ drivers + DC motor(with reduction gear and encoder)for the frame of the electronic control system.Conduct a number of simulation tests in MATLAB/Simulink.Based on Robotics Toolbox programming,the kinematic modeling of the manipulator is carried out to verify the kinematic and inverse solutions and figure out the trajectory planning in the joint space.In Simulink,the mathematical model of the DC servo motor is established and use pidTuner tool to get satisfied PID parameters.Establish the manipulator model in the matlab from ProE with SimMechanics Tool and get the work space by the use of random number input method.The designed DC motor control model is used as the driving input of manipulator's joint and design a GUI control interface as a simple controller.This is a more realistic visual simulation method.The simulation results have obtained the ideal effect,which can provide theoretical basis for the actual debugging of the manipulator and have high reference value.After configuring the drivers and PMAC parameters and communicating with the PC,the uniaxial positional repeatability of the manipulator is tested and obtain the repeatability of at least 0.04 mm.Plan the trajectory of manipulator in the joint space and the positional repeatability of the end-effector is tested by the total station,then obtain the repeatable positional accuracy of 0.67 mm and absolute positional accuracy of 3.45 mm.