Research on dynamic performance and motion control of robot manipulator

摘要

Amongst the robotics and autonomous systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. In this paper, the purpose is to research on dynamic performance and motion control of robot manipulator for the more precise, crucial and critical tasks in industry. Firstly, the forward and inverse kinematics was accurately described by obtaining the link transformation matrices from each joint in robot manipulator. To find admissible solutions along the path, the workspace of the manipulator was determined by joint limit condition and validated by actual measurement. And then, the dynamic performance of robot manipulator is researched by using the forming flexible multi-body system. Furthermore, the frequency response curves are obtained by exciting vibration simulation based on vibration model, which the predicted method was validated by comparing simulation and experimental results. Finally, the control system architecture was given and the grasping process was conducted by gripper based on motion trajectory control in the workspace.