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

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.