Control System Design Of Manipulator Research Articles

Robot Manipulator Control System with Dynamic Moment Compensation

The paper offers the variants of manipulator control system design with PID and polynomial controllers. A manipulator dynamics model is used for compensating the moments affecting its sections during the motion.

The Design of Intelligent Grasping Control System for a Special Operation Manipulator

In this paper, the control system of intelligent grasping for a special operation manipulator is designed to complete disaster relief, fire fighting, explosive disposal and the like for replacing human beings. The control system of the special operation manipulator is needed to have the characteristics of multiple terminal functions, accurate end accuracy and high system reliability and redundancy within outdoor environment. It puts forward higher requirements for the manipulator performance and operator. After analyzing the work requirements of the manipulator, the D-H parameters and motion space is calculated for further research. The forward and inverse kinematics models are built to make the control system into reality. The target grasping is achieved by using the force and position hybrid control and single joint/end control methods. The intelligent recognition system based on machine learning is constructed. The simulation training based on machine learning is carried out by using the back image of the end camera of the manipulator to help the operator locate the target quickly and accurately. Finally the special operation manipulator is used to carry out the target intelligent grasping experiment based on visual guidance. The test results show the effectiveness of the control system design. Thereby it is suitable to be promoted to other robot or manipulator control system design.

Based on a Microcontroller the Real-Time Control System Design of Manipulator of Multiple Degrees of Freedom

Manipulator of multiple degrees of freedom has been widely used in all kinds of rescue and exploring robots. This paper regard a kind of 6 DOF manipulator controller as the design object.The data acquisition for WDD35D4 sensors is carried by the C8051F020 microcontroller and sent through a wireless transmitter NRF905 after encrypted.Then the wireless transmitter NRF905 of the manipulator receives decryption. Through data processing and the steering gear adjustment, the angle of linear potentiometer corresponds to the angle of steering by 1-1. Then it drives the manipulator to work out and simulate the same motion of mechanical arm controller, and make real-time synchronization control.