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Research and Design of Modular Robot Motion Control System

Author: ZhaoWei
Tutor: WuHuaiYu
School: Wuhan University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: Modular robot Motion Control Systems Kinematics Trajectory planning Motion Control
CLC: TP242
Type: Master's thesis
Year: 2007
Downloads: 619
Quote: 9
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Abstract


With the development of science and technology, robotics increasingly widely used in various industries, controller as a component of affecting its performance a key part of the core of the robot. This article describes the definition of a robot, composition and application of robotics research status, proposed the establishment of a modular open architecture robot control system for the robot controller features and existing problems, and a detailed analysis the key technologies involved in the realization of the control system. First, create a DH-based law modular robot inverse kinematics model is derived based on the algebraic method of inverse kinematics equation solving process, and its no solution or multiple solutions, analyzes its feasible solution and optimal solution. Secondly, it analyzes the fundamentals of the structure and characteristics of the cubic uniform B-spline curve, design a modular robot joint space trajectory planning algorithm based on B-spline curve, the Cartesian coordinate system-based modular robot trajectory planning algorithm, compare the advantages and disadvantages of the Cartesian space and joint space trajectory planning. Again, the variable universe fuzzy control algorithm based on dynamic membership functions, in order to meet the robot motion control accuracy, real-time and self-adaptive requirements, the introduction of the robot motion trend analysis, motion trend analysis type the domain Self-adjusting fuzzy control algorithm. Finally, the design of a modular robot control system over three CPU architecture. The first stage as the host computer, the robot system management, coordination and control, and human-computer interaction; second zone controller, DSP (TMS320LF2812) module, Ethernet module, CAN bus module and power module, the robot is inverse kinematics, trajectory planning, as well as with the host computer, the next crew of communication; intelligent modules, mainly by the DSP (TMS320LF2407) module, driver module, CAN bus module, sensor module and power module, the robot motion control, drive and communication with regional controller. By Matlab software, the modular robot kinematics, inverse kinematics, trajectory planning algorithm and motion control algorithm for the simulation experiments. Simulation results show that: the proposed motion control algorithm and design trajectory planning algorithm has high control accuracy, strong adaptability.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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