Research On Motion Control Of Wire-Driven Multi-DOF Lightweight Robot

With the advancement of science and technology,robots begin to play an increasingly important role in people's daily life,especially in the high-risk operation,repetitive labor and so on,the role of the robot is more prominent.Therefore,the robot arm control technology to improve labor productivity and even the realization of industrial 4.0 is important.The commonly used transmission structure of the conventional industrial robots is the motor-reducer-joint direct connection,this structure results in heavy weight,compactless appearance and other shortcomings.In this paper,a kind of wire-driven light manipulator is designed.The robot arm does not include the drive mechanism such as motor and reducer.It is fully driven by the rope to make the robot arm lighter,and has a finer body,flexible and lightweight.The structure of the mechanism is analyzed in detail.The wire driving scheme and the layout of the rope inside the robot arm are analyzed.The design of each part is described in detail.The kinematics model of this manipulator is established.Based on this,the forward kinematics and inverse kinematics are calculated,and the kinematics is simulated by Robotics toolbox of Matlab,which lays the foundation for the following portrait drawing.Completed the design of the whole control system.In the hardware,the equipment used in the system is analysed and selected;In the software,the Linux operating system is transplanted and real-time kernel patch is added to improve the real-time control system.On this basis,the design of human-computer interaction interface and control software are finished.According to the characteristics of wire-driven robot,A P-PID control algorithm is designed to compensate the influence of rope elasticity on control precision,which is verified through the circular trajectory tracking experiment.The control of the robot is realized.A set of portrait drawing algorithm is designed.And a deep learning algorithm is used to extract the feature of human face,then it is transformed into the trajectory of the robot,and the trajectory is optimized.Finally,the portrait drawing experiment is carried out.