The design of a manipulator drive system based on the main control chip

Abstract

This paper mainly studies and designs the control system of a four-degree-of-freedom manipulator. As a motion control system, the control system is mainly oriented to the bottom, striving to develop an industrial manipulator system with high stability, strong reliability, and accurate positioning. Firstly, according to the control requirements of the mechanical arm system, a single CPU system control scheme is designed as a whole, that is, to control the steering gear rotation by controlling the duty cycle of the PWM wave output by the central controller, to achieve the position control of each joint. In terms of hardware, the main components are ARM microprocessor STM32F103ZET6, MG995 steering gear, MG945 steering gear, ultrasonic sensor, and power module. The joint motion control system is built by building a hardware platform and designing a software control program. In software design, the control program is divided into an initialization module and an operation module according to the modular design idea, and the program of each module is designed separately.