Study On Trajectory Planning And Coordination Control Of Manipulator Baced On Matlab And Adams

In this paper, the trajectory planning and control system designing of single manipulator and collaboration control of dual manipulators were studied. The control algorithm for coordination and cooperation of dual manipulators was proposed to provide a new solution for completing the complex tasks in industrial production. Main contents as follows:(1) According to the parameters of RH06 welding manipulator produced by GSK CNC Equipment Company Limited, its mathematical model was established. And the forward kinematics and inverse kinematics and dynamics calculations were finished. After that, correctness of the results was verified by MATLAB software programming methods.(2) By using five polynomial interpolation, linear interpolation and circular interpolation methods, the joint-space trajectory planning and Cartesian-space trajectory planning of manipulator were designed respectively. The trajectories generated were rectangle and oval curve. The simulation manipulator’s movement and the drawing of its movement could be accomplished attributed with programming by using Robotic toolbox in MATLAB, Through these efforts, the feasibility and effectiveness of the above mentioned trajectory planning of manipulator operations were directly reflected.(3) The trajectory planning of manipulator was simulated by ADAMS simulation software. For the control of manipulator joint angles, a common PID control scheme and fuzzy-PID control scheme were both designed by combining ADAMS software with MATLAB software. The two control schemes were simulated. The results showed that the steady performances (steady-state error, etc.) between conventional PID control scheme and fuzzy-PID control scheme were basically analogous, but the dynamic performances (overshoot, settling time, etc.) of fuzzy-PID control were superior to conventional PID control.(4) Based on the theory of cooperation movement control of dual manipulators, a solution that the trajectory of slave manipulator could be obtained from the teaching trajectory of master manipulator was proposed. Arduino control system was designed for dual manipulators and pharmaceutical packaging experiment was performed through dual manipulators’collaboration. It could verify the trajectory planning of dual manipulators and provide a possibility to complete more complex tasks for industrial production. Meanwhile, the design using a controller to control double manipulators simultaneously could reduce the production costs effectively.