Research On Intelligent Control Algorithm Of Six-degree-of-freedom Manipulator Based On Moving Platform

During industrial production,due to the increasing of the application of multi-DOF robotic arms,researching on how the robotic arms move and how to control them is continuously deepened.There is a lot of optimization space,which has great significance for the research of such problems.In this dissertation,the LOBOT manipulator mounted on the Stewart moving platform is used as the control object to perform the joint simulation experiment about the kinematics modeling of the manipulator and the moving platform,the path planning and trajectory planning of the manipulator,the control algorithm of the moving platform manipulator and Parameter offline tuning algorithm.The work and results of this dissertation are as follows:In this paper,the LOBOT manipulator is taken as the research object.The kinematics model is established according to the relevant parameters and D-H matrix and the MATLAB simulation model is used to verify the correctness of the 3D solid model established by SolidWorks.In the path planning part,in order to solve the obstacle avoidance problem of the robot arm movement,an improved RRT(rapidly expanding random tree)algorithm is proposed to smoothly optimize the original generated path so as to obtain a path that can effectively avoid obstacles and has less redundancy;About the trajectory,an improved 7-5-7 polynomial trajectory planning algorithm is proposed to solve the problem of discontinuous pulsation characteristics during the movement of the manipulator and a smooth fitting is performed near the switching point of the improved trajectory algorithm.Simulation results verify the algorithm Applicability.Aiming at the control system model of the robotic arm,the ADRC algorithm is adopted to track the trajectory.First,the PID control algorithm is used to control the model,which verifies the correctness of the model and provides comparative data for the design of other control algorithms.Then,the ADRC algorithm is used to design the controller and its control effect is significantly better than that of the PID controller.Finally,Wolf The group algorithm tunes the parameters of the ADRC controller is based on the tuned controller parameters.Thus,a better control result is obtained.Aiming at the kinematics solution of the moving platform,combined with the speed and acceleration of the telescopic rod,the Newton iterative method was improved.At the same time,the simulation results verified the correctness of the algorithm.All in all,the motion compensation control is implemented for the manipulator based on the moving platform.Meanwhile,the correctness and rationality of the algorithm studied in this paper is verified by joint simulation experiments.