Research And Program Design Of Motion Control Model Based On "3 + 3" Six-DOF Manipulator

The global economy has been completely renewed since modern times.Humans have entered the information society.Intelligent industrial robots have gradually replaced artificial production.It has become an indispensable core equipment in modern manufacturing.However,the high body cost and the effect of implementing functions have always been troubled.A problem for major manufacturers.Therefore,this article aims to propose an economical six-degree-of-freedom manipulator solution for the cost of industrial robots,and explores aspects such as structural ontology,trajectory planning and motion control.First,referring to the design experience of the mechanical arm at home and abroad,according to the economic design principles and requirements of this article,the overall layout design of the manipulator structure was carried out,the structure type and main technical parameters were determined,and the transmission system of the manipulator was designed to determine The type and transmission scheme of the reducer are selected,and the main parts of the robotic arm are selected and calculated.After designing the overall structure of the robot arm,a three-dimensional model was established based on Solid Works,which laid a solid foundation for the subsequent manipulator motion control planning and "3 + 3" experiment.Next,the kinematics and dynamics of the six-degree-of-freedom manipulator designed in this paper are analyzed.The mathematical basis of the manipulator is discussed,the posture transformation and coordinate transformation of the manipulator in three-dimensional space are described,the DH coordinate model of the manipulator is established according to the DH method,and the kinematics,inverse kinematics and The mathematical modeling and analysis of dynamics,based on the MATLAB Robotic Toolbox,carried out the kinematics and dynamics simulation of the robotic arm,which provided support for the trajectory planning experiment described later.Then,the trajectory planning of the economical manipulator in the joint space and Cartesian space is explored,and the methods of cubic polynomial interpolation,fifth-degree polynomial interpolation,acceleration and deceleration control in joint space,and the end effector straight line in Cartesian space are introduced.And arc trajectory planning method,and based on MATLAB simulation of trajectory planning to verify the feasibility of the algorithm.Then,based on the open source ROS platform with high real-time performance,the motion control of the robotic arm was explored.The motion control architecture of the robotic arm was established in the Rviz environment.The three-dimensional physical motion control simulation of the robotic arm was implemented based on the RRT random tree algorithm.The robot arm's obstacle-avoidance motion planning in the real space has been strongly proved,and the feasibility of the robot arm's movement is strongly proved.At the same time,the relevant ROS function is used to obtain the posture data during the operation of the robot arm,which paves the way for the following experimental exploration.Finally,an experimental study on the "3 + 3" joint control of the six-degree-of-freedom manipulator proposed in this paper was carried out.Analyzed the characteristics of the "3 + 3" experiment,introduced the hardware and software of the robot arm experimental control system,based on the experimental platform built by the existing robot arm prototype,conducted the trajectory planning experiment,and achieved the expected movement effect.The feasibility of using the "3 + 3" joint control six-axis manipulator scheme was confirmed,thereby reducing the cost of the six-degree-of-freedom manipulator in the body structure and control system,which laid the foundation for the continued research of the subsequent six-degree-of-freedom manipulator prototype basis.