| With the input and use of industrial robot manipulators in small and medium-sized manufacturing companies.The automation level of processing operations in traditional factories has been significantly improved.The production cycle of products has been short,and finally the purpose of improving factory productivity and reducing production costs has been achieved.However,due to the diversified development of industrial robot manipulator application scenarios,the harsh production conditions put forward higher requirements on the robot size,flexibility and other aspects.At present,The industrial robot manipulator control system is developing in the direction of openness and modularization.It is imperative to design a robot manipulator control system with high adaptability and meeting the needs of small and medium-sized processing factories.The main purpose of this paper are to establish a layered structure of the robot manipulator control system software and hardware platform,and realize the control of the industrial robot manipulator.The specific work contents are as follows:(1)Robot manipulator motion control system designed.This paper adopts the “PC+STM32” hierarchical structure control system to replace the existing multi-core structure control system,which can effectively to reduce the research and development cost,improve the stability of the system structure,and it can realize the control of different types of robot manipulator quickly.The PC adopts Visual C++ designed control software to realize the motion control,interaction and other functions of the robot manipulator control system,and it realizes the motion control,interaction and other functions of the robot manipulator control system.The slave system uses the STM32 microprocessor as the main MCU of the robot controller,which is mainly responsible for the motion of the robot.The number and frequency of pulses are sent to the robot servo system through the I/O interface to complete the control of the robot manipulator servo system,so as to realize the linkage control of the robot joints.The PID control algorithm is adopted to process the deviation from the given position information and the actual position information,so as to improve the position control accuracy,and finally realize the normal operation of the mechanical arm and complete the simple action control.(2)Research on robot manipulator motion planning algorithm and position control strategy.In this paper,the robot manipulator joint velocity-continuity motion planning scheme is proposed.By introducing the neural-dynamic design method of the proposed robot motion planning scheme,the manipulator end-effector's positioning error caused by the joint-velocity jumped when the robot manipulator task-shifting is effectively eliminated.Finally,the simulation verification is carried out,and the proposed motion planning scheme is accurate.For the single-degree-of-freedom manipulator servo system,the position control strategy of the manipulator servo system based on the adaptive backstepping method is designed,and the designed tracking control algorithm has the advantages of anti-disturbance and rapidity,and its effectiveness is verified by simulation.(3)In this part,the joint debugging and experimental analysis of the manipulator motion control system is Completed.It can be seen from the results of debugging and experiment that the control system can realize the control of the robot manipulator and the control performance is good. |
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