Research on Tracking Control and System of 6 DOF Robotic Arm Based on STM32

摘要

The robotic arm has been widely used in various fields such as industry, medical treatment, aerospace, education, etc., and the research on the control for the robotic arm is of great significance. Taking the six-degrees of freedom (DOF) robotic arm as the research object, the forward and inverse kinematics model have been derived by the Denavit-Hartenberg (D-H) method, and the dynamic model was established based on the Lagrangian method. The workspace of the manipulator was analyzed quickly and accurately by the Monte Carlo method. The embedded chip that has been used as the core for the servo system and the hardware of the control system is called Stm32. A motion control system for a robotic arm with 6 degrees of freedom based on Stm32f407 discovery was designed. The reliability and stability of the embedded control system have been achieved. Trajectory planning and tracking control methods have been designed and carried out simulation and actual measurement.