Implementing Multi-DOF Trajectory Tracking Control System for Robotic Arm Experimental Platform

被引：5
作者：
Ai, Qingsong [1 ,2 ]
Yang, Qifan [1 ,2 ]
Li, Min [1 ,2 ]
Feng, Xiaorong [1 ,2 ]
Meng, Wei [1 ,2 ]
机构：
[1] Wuhan Univ Technol, Sch Informat Engn, Wuhan 430070, Hubei, Peoples R China
[2] Minist Educ, Key Lab Fiber Opt Sensing Technol & Informat Proc, Wuhan 430070, Hubei, Peoples R China
来源：
2018 10TH INTERNATIONAL CONFERENCE ON MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION (ICMTMA) | 2018年
关键词：
robotic manipulator; trajectory tracking control; trajectory planning; control systems;
D O I：
10.1109/ICMTMA.2018.00075
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To implement the control system of a multi-DOF robotic manipulator (Dobot), the robot dynamics, trajectory planning algorithm and motion control strategy are studied for designing the trajectory tracking control system. In this paper, the hardware and software of Dobot magician control system are designed. The hardware mainly includes STM32 controller. The software part mainly builds the host computer display interface, completes the protocol communication between the robot manipulator and the PC, so as to realize the trajectory tracking control of the robot manipulator and implement the track-following in real time. The experimental results show that the control system can accurately track the trajectory of robotic manipulator with a certain degree of real-time and stability.
引用
收藏
页码：282 / 285
页数：4
相关论文
共 18 条
  • [1] [Anonymous], 2006, INT J SYSTEMS CONTRO
  • [2] Motor Imagery and Error Related Potential Induced Position Control of a Robotic Arm
    Bhattacharyya, Saugat
    Konar, Amit
    Tibarewala, D. N.
    [J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2017, 4 (04) : 639 - 650
  • [3] Energy Expenditure of Trotting Gait Under Different Gait Parameters
    Chen, Xian-Bao
    Gao, Feng
    [J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2017, 30 (04) : 943 - 950
  • [4] Dong D., 2011, RES DESIGN TEACHING
  • [5] Tracking control of uncertain dynamic nonholonomic system and its application to wheeled mobile robots
    Dong, Wenjie
    Huo, Wei
    Tso, S.K.
    Xu, W.L.
    [J]. 2000, IEEE, Piscataway, NJ, United States (16): : 870 - 874
  • [6] A novel design of an aquatic walking robot having webbed feet
    Kashem S.
    Sufyan H.
    [J]. International Journal of Automation and Computing, 2017, 14 (05) : 576 - 588
  • [7] Khajorntraidet C., 2016, CONTROL THEORY TECHN, V13, P141
  • [8] Kim SK, 2014, IEEE INT C INT ROBOT, P877, DOI 10.1109/IROS.2014.6942663
  • [9] Expected innovation in industrial robots
    Kodaira, Norio
    [J]. ADVANCED ROBOTICS, 2016, 30 (17-18) : 1088 - 1094
  • [10] Robust Control Design of Wheeled Inverted Pendulum Assistant Robot
    Mahmoud, Magdi S.
    Nasir, Mohammad T.
    [J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2017, 4 (04) : 628 - 638
12