The Structure And Control Of Robot Manipulator For Noise Measurement

The research report is mainly focused on the general design, kinematics and adaptive control of the robot manipulator for noise measurement. The main contributions of this report are summarized as follows:The general structure of the robot is studied in the report. Based on the crucial problems of the robot structure, the construction of the manipulators and wrist are discussed, and the final mode of the structure is designed. The basic formation of the robot and transmission system used in the robot is studied, the construction of the robot for measuring is determined. AC servo motor with harmonic drive is used to drive the robot manipulators and the synchro-belt drive is used to drive the wrist after the present robot is analyzed. In the end, the general structure of the robot with six degree of freedom is drawn.The robot kinematics is analyzed, the kinematics equation and the Jacobian matrix are built. The joint space frame is formed by using Denavit-Hartenberg notation. The forward kinematics solution or robot kinematics equation is computed by using homogeneous transformation. The inverse kinematics is analyzed, and the inverse solution which gives the joint angles required to reach the specified end-effector position is obtained. By using differential transformation method, the Jacobian matrix is got.The robot kinematics and dynamics simulation are performed using robotics toolbox. Firstly, the manipulators mode! is built by using Denavit-Hartenberg notation, and then 3-D plot of the robot is drawn. Observing the graphical robot, the workspace of the robot can be obtained. Different joint pose trajectories influence to the end-effector is found with the trajectory simulation. Inverse dynamics simulation is performed and the varying parameters is shown explicitly.The adaptive control of the trajectory is studied. Utilizing robot parameterization property, adaptive control law is studied and the desired compensation control law with variable structure is designed in the presence of joint friction. Theory proof and simulation results shows that tracking error of the close-loop system converge quickly in time, uncertainties influence to the controller is avoided, and robustness to uncertainties is guaranteed. The controller exhibits more computationally efficient and better robustness with respect to disturbances, as compared with the original controller,...