Research On Six-DOF Manipulator Motion Control System Based On EtherCAT

As a high-tech,robot technology is widely used in various fields such as industrial manufacturing,medical treatment,daily life,military and space exploration.Robot motion control technology is an important part of robotics.With the development of science and technology,in order to achieve more sophisticated manipulator functions,it is of great practical significance to study the efficient and reliable robot motion control system.Firstly,based on its mechanical structure parameters,the D-H model of a six-degree-of-freedom manipulator is established,and the forward and inverse kinematics analysis and mathematical derivation are carried out in this paper.In the MATLAB environment,mathematical model is established by using robotic toolbox.On this basis,the forward and inverse kinematics algorithm are simulated and verified,Secondly,theoretical analysis and mathematical derivation are carried out for cubic,quintic and combinatorial interpolation functions respectively in the joint space.The advantages and disadvantages of the three interpolation methods are compared by the simulation experiments.According to the results,the optimal sine-cosine combinatorial interpolation method is selected to complete the joint space trajectory planning.Thirdly,in order to ensure the real-time performance of the motion control system,research on motion control master and slave station based on EtherCAT is carried out.The EtherCAT master system based on the NI CompactRIO motion controller is established,and the motion control algorithm runs in the LabVIEW Real-time module to complete real-time control.On the basis of ELMO Gold Line servo driver series,the slave system is established,and the application layer design of servo driver is completed by combining the standard motion control protocol CiA402.Fuzzy self-tuning PID algorithm is applied to realize three closed-loop control,and its superiority in position control and speed tracking is verified by experimental tests.Finally,a six-degree-of-freedom manipulator motion control system test platform is established,which includes motion function test,Ether CAT communication efficiency test and attitude positioning accuracy analysis.Experimental results show that the motion control system is stable,with good real-time performance and positioning accuracy,and satisfies the requirements of the motion control system completely.