Abstract:In order to improve the transmission performance of the joint of the robot manipulator and make it in a good backstepping adaptive working environment, the synovial membrane control system of the multi-joint manipulator of the literature scanning robot is designed. By using the key control circuit, the directional connection between the global PID synovial controller of the manipulator and the multi-joint synovial controller of the robot is realized, and the hardware operation environment of the new control system is built. The equivalent control and dynamic synovial equation are established through the calibration operation of the sensor controlled by the robot, and the dynamic quality of the mechanical arm's synovial membrane is defined by the above calculation results. The software operating environment of the new control system is built. The design of the multi-joint mechanical arm synovial membrane control system of the literature scanning robot is completed by combining the software and hardware operating units. By simulating the running state of the multi-joint manipulator of literature scanning robot, the design and comparison experiment results show that the transmission ability of the joint of the manipulator can be effectively improved, and the maximum value of the back-stepping adaptive parameters can reach 1.70 when the new synovial control system is applied compared with the traditional system.
