Control System Design And Motion Planning Of A 7-DOF Humanoid Manipulator

At present,the number of the world's upper limb disabled is increasing day by day.With the enhancement of science and technology,the emergence of artificial limb manipulator has brought good news to the patients with upper limb disability.In order to make the artificial limb manipulator can replace the upper limb motor function of patients and improve the living conditions of patients with upper limb disability.In this paper,the control system design and motion planning of a 7-DOF artificial limb manipulator are studied,and the humanoid trajectory of the manipulator is realized,which makes the trajectory conform to the characteristics of human behavior.Therefore,this paper has done the following work.(1)The design of the control system of the artificial limb manipulator.The chip selection,circuit diagram design,software function module design and communication protocol formulation of the controller are completed.The embedded controller which meets the performance requirements is designed to control the joint motion of the manipulator.(2)In order to solve the problem of joint control error caused by return clearance in the joint of chain and differential gear mechanism in mechanical structure,the angle sensor is used to detect and compensate the joint angle,and the precise joint motion control of humanoid artificial limb manipulator is realized.(3)The D-H coordinate system is established to analyze the kinematics of the manipulator.The inverse kinematics solution of the manipulator is solved by geometric method,and the workspace of the manipulator is analyzed.In the framework of robot operating system,the simulation environment of humanoid artificial limb manipulator is built,and the simulation model and software framework of the robot operating system are constructed.(4)In order to make the trajectory of humanoid artificial limb manipulator conform to the characteristics of human motion trajectory,a firefly algorithm based on the minimum energy consumption constraint is proposed to optimize the quintic polynomial parameters for anthropomorphic trajectory planning.On the simulation platform under the framework of robot operating system,the trajectory planning of humanoid artificial limb manipulator is carried out on the daily upper limb motion.Compared with the traditional cubic spline planning results,the trajectory planning by the proposed algorithm can get less energy consumption.In addition,the trajectory planning is realized in a real artificial limb manipulator experimental platform.