The Motion Control System Design Of A6-DOF Manipulator

Motion control is an important part in the robot design. The robotmotion control means, in order to accomplish the given motion, doing thetrajectory planning and controlling the displacement of the axes to make therobot move along the expected path. In general, the displacement, velocityand acceleration of the robot need a closed-loop control, so as to have a bettercontrol effect. In most conditions, not only the position control is needed, butalso the posture change is needed to do a job. So the posture control is asimportant as the position control. It’s called the position and posturecombinative control.This paper is about the motion control system design based on a6-DOFmanipulator. The control system uses SANYO servo motors as the drivepower and GUC motion controller as the control core. The manipulator canbe controlled stably in the control system. The main work includes fouraspects as follows:Firstly, the kinematic model of the manipulator is established, includingthe forward kinematics equation and the inverse kinematics equation. And byusing C++, the kinematic algorithm is programmed.Secondly, by studying the trajectory planning methods, the motioncontrol algorithms of three motion modes are designed. The manipulator can complete a lot of different jobs with the three motion modes. And in MFC byusing C++, a debugging program is designed to verify the motion controlalgorithms.Thirdly, in MATLAB, two different simulation systems are designed byusing Robotics Toolbox and SimMechanics. By simulating respectively in thetwo different systems, the movement of the manipulator can be reflected indetail. From the simulation results, the veracity of the algorithms can beverified.Finally, the servo control system is introduced which is the basic of themotion control system. It’s the basic requirement to keep the underlyingdriver section running normally. And in the experiment, by using the controlprogram, the manipulator can move along the expected trajectory.By using MATLAB to do the offline simulation and doing the motioncontrol experiment, the results show that the servo control system can runsteadily and the control algorithms of the three different motion modes arecorrect which is capable of the motion control of the manipulator.