Design of the Controlling System of a Six-DoF Manipulator

Abstract

Aiming at the requirement of experimental and exhibition, a six-degree-of-freedom control system with ATmega328P as the main controller, steering gear driving module as the motion unit of the manipulator is designed based on the analysis of the experimental application of the traditional manipulator control system. The system has two control modes: "handle control" and "automatic gesture action". According to the structural characteristics of the manipulator, the Denavit-Hartenberg(D-H) coordinate was obtained and its forward kinematic analysis was done. The experimental results show that the control system can quickly and accurately adjust the trajectory of the robot arm to complete the corresponding action, which can be used for experiments and exhibitions.