A Certain Road Cones And Mechanical Movement Control Design And Research

Along with the rapid increasing mileage of the highway, the task of road maintenance increasingly. The road maintenance machinery and information was putting forward to a high way. Currently road cones were placed and recovered by manual operation in native; the manual operation was slow speed and low safety. The first road cone was designed in the department, for the retractable lack of vehicles proposed to road cone retractable manipulator as the core of a retractable system. In the paper based of the engineering vehicles, robot, the road cone stack code robot the retractable system overall program; focused on the design and research of the robot motion control.In the thesis, according to road cone retractable technical requirements and work process. Designed a four-degree of freedom joint type robot. Establish the kinematical model of the manipulator by the D-H method and on the basis of the link coordinate system thumbs.. Analysis the robot kinematics by the Homogeneous coordinate transformation. According to the kinematics model, trajectory planning and kinematics simulation using Matlab robot toolbox, So that the manipulator trajectory as smooth as possible, to avoid the position, velocity and acceleration of the mutation, Reasonableness manipulator trajectory planning based on ADAMS software validation and simulation work process, got the angular velocity, angular acceleration and driving torque of the joint and lay the foundation for the realization of the actual motion control.Then, for the nonlinear robot dynamics model and the strong coupling characteristics, designed the RBF adaptive neural network controller to its motion control, and improved the algorithm, demonstrated the effectiveness of the control strategy with the experimental results.Finally, the design of the robot hardware circuit by the DSP processor core and the completion of the key functional modules of software design and control systems software process. The thesis work provides reference of the second generation automatic retractable car road cone product.