Design And Simulation Of Five Degree Of Freedom Robot Control System

The industrial robot has been playing a more and more important role in today’s industrial production, I am through the design of five DOF robot control system, the robot’s knowledge in the design process to reproduce, through the computer software of the robot is simulated, and the frame can achieve a simple movement and meet the laboratory teaching the five DOF robot.This paper studies the five DOF serial robot is divided into driving scheme of stepping motor and steering gear two, the stepper motor as the focus, and then build a real robot in simulation model; servo and stepper motor as the corresponding, comparative study. First I to 3D modeling based on the real robot to build for the selection of control components, including motor control, motor and sensor communication module; and then the calculation and Simulation of robot kinematics, optimize the motion angle of each degree of freedom robot; trajectory and speed next trajectory of the end effector robot stepper motor is planning and simulation, to determine the two trajectory scheme; then studies the joint of stepper motor control, according to the need of driving stepping motor principle and robot motion, combined with the speed curve on the part of the stepper motor,to develop a set of high precision control of robot stepper motor program.The last part is the simulation and construction of the control system. The first is the simulation model of the robot is established based on the Simmechanics module in MATLAB, and then in the drive module to simulate the stepper motor and steering two schemes, and compared; then the control system to set up the entity model, including communications, sensor and motor driver module and MCU connection and use finally, the paper mainly introduces the design of computer terminal control interface, including the serial communication function library basic design method of QT interface and QT based on the use of.