Design And Simulation Of Six-axis Manipulator Control System

Industrial robotic arm is an important auxiliary tool in industrial production,and six-axis robotic arm can complete various tasks such as handling,welding,sorting,etc.,and is an important member of the robotic arm family.The six-axis manipulator consists of a mechanical structure and a motion control system.The work of the motion control system is to control the rotation of each joint motor of the manipulator to make the manipulator move in accordance with the agreed space trajectory.It can be said that the motion control system is the core part of the manipulator,and the motion control system is divided into the control system and the drive system.The control system converts the space motion data of the robot arm into the joint angle information of the robot arm by planning the path of the robot arm,and the drive system realizes the control of the robot arm joints by receiving the angle information to realize the overall motion of the robot arm.The main work of this paper is to develop around the control system,through the design of the control system of a lightweight six-degree-of-freedom articulated manipulator.The work content is as follows.First,the kinematics theory of the robotic arm is explained to provide a theoretical basis for constructing a kinematic model.Secondly,the structural parameters of the robot arm are obtained through the 3D model of the robot arm,and these parameters are used to construct the linkage relationship of the robot arm to realize the relative transformation of the joint coordinate system.According to the standard DH method,the forward kinematics model of the manipulator is established,and the simulation software is used to simulate the model to verify its correctness.Based on the forward kinematics model,the inverse solution modeling of the robotic arm is used to solve the various joint angles of the robotic arm.Finally,a single-form trajectory planning algorithm is used to realize the path planning algorithm suitable for the three working modes of the manipulator,and the simulation software is used to simulate these path planning algorithms,and the control system software is written based on the C# language.