Open AccessDesign of Control System for 6-DOF Manipulator
Author(s) -
Xianglong Li,
Zikun Quan,
Liu Dong-ping
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/772/1/012041
Subject(s) - manipulator (device) , parallel manipulator , control theory (sociology) , control engineering , nonlinear system , mobile manipulator , key (lock) , computer science , coupling (piping) , robot manipulator , control system , control (management) , engineering , robotic arm , robot , mechanical engineering , artificial intelligence , physics , computer security , electrical engineering , quantum mechanics , mobile robot
The manipulator is a complex system with high precision, high nonlinearity and strong coupling, the design of the manipulator control system has an important influence on the stable operation of the manipulator. The structural design, drive design and hardware design of the manipulator are the key contents of the manipulator, which needs to be coordinated and controlled as a whole. Through the establishment of a six-degree-of-freedom manipulator dynamics model, and the design of the manipulator control system is conducted in this paper.