Dissertation > Excellent graduate degree dissertation topics show

Research of 6-DOF Robot Motion Control Based on DMC

Author: WangQian
Tutor: LiKaiLin
School: South China University of Technology
Course: Mechanical Design and Theory
Keywords: Six-Degree-Of-Freedom Robot DMC motion control card Kinematics Trajectory Planning
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 114
Quote: 0
Read: Download Dissertation

Abstract


The robot control system can use open architecture to expand and alert function, makebetter the performance of robot. Modularization design provides the convenience ofinstallation and maintenance and better functional reliability. The thesis design and research aSix-Degree-Of-Freedom Robot based on a DMC controller card and IPC by use of the openarchitecture and modularization.Bi-microprocessor control and module structure designmethod is applied in the robot control system. The lower level DMC-2183 is employed torealize position servo control of every joint and coordinate all joints, while the higher levelIPC is in charge of system management and motion trajectory planning.Fistly, the technique of kinematics modeling, the solving of the forward kinematics andinverse kinematics of are introduced on the basis of the full analysis of the mechanical systemof Six-Degree-Of-Freedom Robot. This paper mainly studied the trajectory of robot inCartesian space, including spatial straight-line, spatial circular arc and B-spline curve.Secondly, the open hardware architecture based on the IPC and DMC controller card isaccepted by full analysis of DMC-2183 controller card`s specialty. At the same time ,theSix-Degree-Of-Freedom Robot software system based on WindowsXP operating system isdeveloped by means of the object-oriented method integrated with the C++ language. It ismainly expressed that the achivement of trajectory planning, the model ofTeching-Playing,and multithreading.Lastly, the paper uses C++ to complile the trajectory planning algorithms above, andconducts the trajectory planning simulation using MATLAB. Validate those trajectoryplanning algorithms on the Six-Degree-Of-Freedom Robot.The robot trajectory planningmotion is completed successfully. This kind of robot control system runs smoothly and hasexcellent open and expandable ability in real practice.

Related Dissertations

  1. Research on Key Technology of Recycling Horizontal Subsea Pipe Conector,TE973
  2. Kinematics Analysis on the Final Delivery Techniques of Women Discus Athletes in the 11th National Games,G824.2
  3. The Kinematics and Dynamics on the Cross-rod Parallel Machine Tools,TH113
  4. The Kinematics/Elasticity Kinematics Analysis and Optimization of Multi-link Suspension System,U463.33
  5. DTH drilling rig arm kinematics, dynamics research and optimization design,P634.31
  6. 2-RRC-SPS and 2-RRC-PSS parallel robot kinematics and dynamics modeling,TP242.2
  7. Research and Implementation of Virtual Laboratory of Bar Linkage Innovative Design Based on Java3D,TH112.1
  8. Theoretical Analysis and Experiment Research of Movable Hydraulic Pumping Station,TH137.51
  9. Performance Analysis of Cam Mechanism with Oscillating Roller Follower Considering Lubrication,TH112.2
  10. Analysis of the Kinematics and Dynamics for Passive Quadruped Robot,TP242
  11. Research on Key Technology of Experimental Prototype of New Underwater Flange Connecting Tool,TH131
  12. Research on Speed Fluctuation Control of Hybrid-driven Machine,TH112
  13. Kinematics Analysis and Configurations of Spread Band Drive Parallel Mechanism,TH112
  14. Structural Synthesis and Design of Novel Three-Degree-of-Freedom Differential Gear Train,TH132
  15. Study on a Tripod Parallel Universal Wrist,TH112
  16. Research on Sensor Calibration of Flexible Visual Inspection and Robot Ontology Calibration,TP212
  17. The Kinematicanalysis on Sprint Start of Elite Sprinters in Suzhou,G822.1
  18. The Effect of Change of Hamstring and Quadriceps Femoris Strength of Joint of Knee on Shuttle Run,G804.2
  19. Modeling Analysis and Slip Estimation for Lunar Rovers,TP242
  20. Research of Trajectory Planning of Needle Insertion in Soft Tissue Based on Potential Field Method and Experiment Validation,TP242
  21. The Structural Design of Surgical Instrument for Celiac Minimally Invasive Surgical Robot,TP242

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile