Technology Research Based On Fuzzy Control Multiple Degrees Of Freedom Robot Arm Control

Robot designing integrate engineering mechanics，mechanics of materials，electric，control technology, computer, sensor technology and so on．So doing the algorithm on therobot and designing the controlling system for the teaching robot is focused by lots ofeducationalists and researchers．A manipulator running freely must have six DOF(degree of freedom)at least.Currently, many manipulators designed by some university are below5DOF．Thesemanipulators’structure is too simple，their function is single and is not opened，and the lesshas bionic function. Aim at the faults of recent manipulator in education, a six DOFmanipulator is designed in the paper．It hold the opened idea，viz．The opened structure，the opened controlling system and the opened software．This manipulator use the aluminumalloy material，and has six individual drivers，through the sensor on the end-effector，thismachine can achieve bionic function．It’s related to many aspects of the knowledge，such asmechanics，controlling sensor and computer and so on．And it can be done lots of algorithmtests on it．The designed manipulator in this paper used the DC servo motor with the harmonicreducer to drive the joints make it has hiprecision，good controlling capability and simpleconstruction. A step motor which has high stall torque is used to driver the end-effectorthrough the resistance strain gauges，the system can measure the force of the end-effector,reach the bionic function．And some protection is designed on the circuit to make themachine work safely． Due to the nonlinear characteristics of the manipulator, a fuzzy neural controllingalgorithm is designed．Using the Matlab software simulate this algorithm，the results showthis controlling method has good capability to control the nonlinear system．At the sametime，the controlling software using OpenGL technic with some other ethnics together isbuilded by the VC++．The opened DLL(dynamic linking library)make the redevelopmentSO convenience. At last, a series of tests is done to the manipulator, the results show thismanipulator satisfies the given teaching robot accuracy requirements in full compliance．...