Research On Manipulator Control System In Water Quality Monitoring

Water pollution is an important environmental pollution problem in globalization.The most important indicator in water quality monitoring is the ammonia nitrogen content of water.At present,the most commonly used ammonia nitrogen monitoring method is the manual sampling method,which has the problems of high labor intensity,large randomness detection and Iong detection period.In view of the problems existing in the manual monitoring method,this paper designs a mechanical arm control method to complete the monitoring of water quality ammonia nitrogen.This topic uses mechanical arms instead of manual automatic operations to improve operational accuracy,improve safety and stability,and reduce labor intensity.The main contents of this research include:1)According to the process flow of water quality ammonia nitrogen monitoring,the working flow and control performance requirements of the mechanical arm in the system were determined.Through the coordinated control of the robot arm,the quantitative extraction of the reagent,the grasping of the sensor and the automatic measurement are completed,and the robot arm realizes precise control.2)The system establishes the kinematics and dynamics model of the manipulator,and the researchers study the manipulator control strategy.The system uses the D-H method to establish the kinematics model,and uses the iterative inverse kinematics solution to derive the dynamic equations of the manipulator based on the Lagrange equation to complete the joint force or torque control.The system uses joint space and Cartesian space for trajectory planning,so that the robot arm can reach the target position smoothly and continuously.Simulations of kinematics and dynamics were performed using the MATLAB Robotics toolbox.The system adopts continuous control mode to coordinate control of the robot arm,and completes the automatic operation of the robot arm in the ammonia nitrogen monitoring in a limited time to improve the motion control accuracy.3)The system uses brushless DC motor to control the joint motion of the manipulator.It mainly analyzes the working principle,mathematical model and motion characteristics of the brushless DC motor and controls the stable movement of the arm.4)Design the hardware,software and algorithms of the robot control system.The hardware mainly includes the module design of the minimum system module,power module,signal acquisition module,motor drive module and gripper.The software mainly includes module design of the overall system framework,motor control,gripper control and robot arm control.The model predictive control algorithm is used to control the joints of the manipulators to realize the tracking of each joint motion in the space.This topic has studied the coordinated control of the manipulator in the monitoring of water quality ammonia nitrogen,Simulation analysis was carried out.the process of water quality ammonia nitrogen monitoring can be accurately and efficiently completed by the manipulator operation,which solves the problems of large labor intensity,high randomness of detection and low measurement accuracy in manual monitoring.effectively improve the automation level of water quality monitoring in China.It has theoretical basis and application value for promoting the automation of water resources environmental management in China.