Development Of Six-axis Robotic Arm Control System Based On ARM

As industrial upgrading and smart manufacturing continue,the application areas of six-axis robotic arms are becoming more and more extensive.Six-axis robotic arms need to improve openness and scalability to meet different production requirements,and the robotic arm control system is an important platform to achieve these requirements.This paper designs and develops a master-slave six-axis robotic arm control system solution based on ARM platform for the configuration of six-axis robotic arms commonly used in industrial production.The D-H mathematical model and the forward and inverse solution algorithm of the six-axis robotic arm are studied.On the premise of using the position-pose separation inverse solution method,the inverse solution selection algorithm based on the displacement minimization principle is improved,and the inverse solution is selected twice based on the displacement minimization principle in the process of finding the inverse solution in position and pose,so that the optimal inverse solution can be selected without finding all feasible solutions,which reduces the unnecessary calculation process and improves the efficiency of the algorithm.For the problem of interpolation margin in the process of traditional acceleration/deceleration curve,the planning algorithm of S-type acceleration/deceleration curve and T-type acceleration/deceleration curve is improved,and the speed fluctuation of this algorithm is smaller than that of traditional acceleration/deceleration algorithm.On this basis,the position and pose synchronization planning algorithm based on position planning is adopted for the problem that the position and pose need to be synchronized during the operation of the robot arm.The positional synchronization algorithm of space arc trajectory is proposed,and the space arc is divided into two separate planning segments with the middle point.It avoids the problem of position and pose non-synchronization and improves the operation accuracy of the robotic arm.For the difficulty of six-axis synchronous control using microcontroller,the STM32-based six-axis synchronous drive solution is proposed.The DMA channel is used to effectively reduce the impact of data from transmission on the real-time performance of STM32 chip,and the timing of start-stop and parameter setting is reasonably configured to ensure that PWM pulses can be output continuously.The interpolation period of the control system can reach 1ms,which meets the real-time requirements of the system.The overall design of the robot arm control system was completed,and the hardware platform of the master-slave control system based on ARM chip was built to realize the trajectory planning algorithm and the human-machine interaction interface of automatic function,manual function and programming function.After completing the development of the control system,the construction of the control system was completed and the normal operation of the control system was ensured.Finally,the multi-segment line trajectory tracking test was designed.Through programming and trajectory planning in the control system and other tests and collected experimental data,analysis of experimental data shows that the control system can meet the design requirements.It provides the environment basis for the subsequent expansion and development of the control system functions.