Nonlinear Control For A Kind Of Manipulator

Industrial robots are important tools to support the development of modern industry.They play a significant role in the fields of automated assembly,automatic welding,logistics handling and medical hygiene.How to improve the control precision of the manipulator and solve the engineering problems has always been the research focus.A series of researches on structural analysis,control algorithm designing and practical applications are carried out based on a 6-DOF manipulators in this paper.Firstly,for the UR10 cooperative manipulator,the kinematics model is analyzed with D-H method and the correctness of the kinematics model is verified.Based on the Robotics Toolbox,the workspace of the manipulator is analyzed with Monte Carlo method.Secondly,for an environment with obstacles,the trajectory optimization algorithm is proposed based on genetic algorithm to find the best trace between the two points.The shortest motion time and the minimum rotation angle of each joint is taken as the optimization target.The simulation experiment is carried out in MATLAB to verify the performance of the algorithm.Thirdly,in order to grasp the key technology of industrial robot,a single joint system imitating the joint design of the UR10 robot is designed.Based on the system,a joint controller is developed to achieve precise speed and position control in this paper.The dynamic model of the first two joints of the UR 10 manipulator is established with the Lagrange method,and the sliding mode controller is designed to improve the trajectory tracking performance of the manipulator.After that,for the needs of puncture surgery,a clamping mechanisms is proposed.A control system is set up to drive the medical drill rotating and pushing under the instructions.At last,applying the UR10 manipulator to the medical field,a puncture robot platform is designed based on the UR10 manipulator to assist medical stuff in carrying out puncture surgery.On the basis of Qt+Slicer+VTK software environment,an integrated control system is developed,and the puncture experiment is carried out to verify the practicability of the puncture robot.The industrial robot is a complex system with strong coupling and nonlinearity.A series of researches on kinematics,trajectory optimization algorithms and control algorithms are studied in this paper.Hope that the researches can promote the development and expand the application fields of the industrial robot to a certain degree.