Research On The Control-driving System Of Robotic Manipulators

This thesis mainly presents several aspects of the robot control system. An integrated control-driving system of robotic manipulators has been proposed and three main problems has been discussed in this thesis: kinematic analysis of robotic manipulators, trajectory generation algorithm based on Cartesian space and motor control strategies.A manipulator can be considered as a chain by joints. The movement of robots is represented with positions and orientations. They can be described by using position vector and rotation matrix. These parameters can be obtained by D-H notation. The forward kinematic problem is to compute the position and orientation of the robotic manipulator from joint angles. Given the position and orientation of a robotic manipulator, we can calculate sets of joint angles, which is called inverse kinematics.A novel convolution-based trajectory planning algorithm has been proposed to generate a smooth and continuously differentiable trajectory, which is able to satisfy the given physical system limits. The algorithm is given in the form of successive convolution operation.The trajectory planning is complemented in the Cartesian space, which can be divided into position planning and orientation planning. In the position planning, two kinds of space curves have been discussed: space line and space arc. A smooth acceleration/deceleration stage is achieved in space line and arc track planning. A blending algorithm is proposed while connecting two space curves. In the orientation planning, the equivalent angle-axis representation is proposed to represent the change of the orientation. The convolution-based algorithm is used to the angle variable to achieve a smooth change.The mathematical model of a permanent magnet synchronous motor is studied. A vector control algorithm is proposed in the PMSM control strategy. Combined with the space vector PWM, we achieve a favorable servo control model of the motor drive.