Research On The Path Of Manipulator Based On Ship Surface Operation

Nowadays,the application of new technologies such as Internet,artificial intelligence and big data is everywhere.These technologies are not only profoundly influencing and changing people's life and work style,but also reshaping the development form and logic of industry.The proportion of intelligent manufacturing in all walks of life is getting heavier and heavier,and the traditional shipbuilding industry has gradually changed to intelligent manufacturing.As a kind of robot,the mechanical arm plays a key role in realizing the intelligent manufacturing of ship in shipyard.There are many types of manipulators working on the surface of ships,such as spraying manipulators,welding manipulators,descaling manipulators,etc.The fast,flexible,and precise operation characteristics of manipulators are very consistent with the needs of shipbuilding.Therefore,the research of marine manipulator becomes more and more important.This article will combine the current state of development of the robotic arm to design a sixdegree-of-freedom robotic arm that can work on the surface of the ship and can be tested in the laboratory.Firstly,according to the structural characteristics of the mechanical arm,this paper designs a six-degree-of-freedom mechanical arm,and uses the D-H parameter method to model and analyze the designed mechanical arm.The forward and inverse kinematics of the designed robotic arm are studied separately,and the forward and inverse kinematics formulas are given,which provides a theoretical basis for the trajectory planning of the robotic arm.At the same time,it was tested and verified in matlab software.Then,according to the designed manipulator,starting from two trajectory planning methods of joint space and Cartesian space,the corresponding algorithms were written and simulated.Provided technical support for different trajectory planning required for different tasks of the robotic arm in the shipyard,and also proposed the use of different algorithms for different tasks.Finally,in order to solve the operation error caused by the manipulator operating in the complex and changeable working environment of the shipyard,a control system is designed,and the fuzzy control theory is introduced based on the traditional PID control.For the determination of PID control,a method for quickly selecting its parameters is given,and the corresponding fuzzy rules are formulated for fuzzy control.Based on the combination of the above two methods,the demand for precise operation of the mechanical arm in the shipyard is finally achieved.In summary,this paper starts from the structural design of the robotic arm,based on the simulation model,and realizes the forward and reverse kinematics solution,trajectory planning and precise control of the robotic arm.It not only provides technical support for the theoretical research of laboratory manipulator,but also provides a reference for the development of China's shipbuilding intelligent manufacturing industry.