Research And Design Of Humanoid Writing Robot Modeling And Control System

Writing as a characteristic function of the humanoid robot has always been a hot trend in the research of humanoid robots.The research of this subject mainly focuses on the realization of the arm writing function of the humanoid robot.The main work includes:kinematics modeling,dynamic modeling,controller design and construction of the physical simulation platform.In theory,firstly,the kinematics model of the human-like writing robot is established for the writing movement,and the D-H model of the writing robot is established.The inverse kinematics solution is solved by the algebraic solution and the geometric solution;the path planning is performed by the quintic spline method;the velocity Jacobian Matrix established and so on.Then,the dynamic model of the writing robot is established.The dynamic analysis model is constructed by Lagrangian method,and the dynamic equation of the writing robot is constructed.On the basis of the dynamic model,the PD controller is used for trajectory tracking simulation.Considering some defects of the PD controller,the Backstepping controller is used for trajectory tracking simulation.For the "differential explosion" problem brought by the Backstepping controller,combined the dynamic surface control method transforms the control law of the Backstepping controller and designs the Backstepping dynamic surface eontroller.Considering that the writing process of the writing robot is as close as possible to the writing process of the real person,the contact of the pen tip to the paper surface is controlled to achieve the force/bit mixing control of the human-like writing robot.The theoretical verification of the writing process is realized by simulating the writing process,and several control methods are compared to verify the effectiveness of the controller.In terms of experiments,this thesis establishes a simulation physical platform based on the fimctional requirements of human-like writing robots.The mechanical structure of the arm of the human-like writing robot was designed by SolidWorks,and a mechanical platform for human-like writing robot was constructed.The control module of each joint adopts STM32F103C8T6 as the core controller and selects TB6112FNGDC motor drive module.Each module is designed with CAN bus coumunication to realize the communication between each control module and the host computer to coordinate the movement of each joint of the robot.The control system also includes an angle sensor module,a display module,a voltage regulator circuit module and the like.The upper computer interface software is developed by Qt5.The serial port to CAN communication is used to realize the communication of the upper and lower machine data,and the control modules of each joint are coordinated to realize the basic process of robot writing.This thesis completed the establishment of the kinematics model and dynamic model of the human?like writing robot,the design of the controller,the simulation verified the correctness of the theory,established the physical simulation experiment platform,and improved in the following four aspects:(1)Establish a full dynamic model for the writing robot,which is closer to the actual working condition of the robot during simulation;(2)Use Backstepping dynamic surface controller to simplify calculation and improve control performance;(3)The force/bit hybrid controller is used to make the writing robot closer to the real person writing;(4)Designed and built a physical simulation experiment platform to create conditions for:further research on human-like writing robots and lay a good foundation.