A Study on Control Algorithm for Robots with Multi-degree of Freedom

Abstract

Abstract Robotics, a synthetic discipline developed in recent years, is the advanced hot spot of academic research at present. As the important branch of robots, robots with multi-degree of freedom are similar with human beings in intelligence, behaviors and appearance. A robot with multi-degree of freedom can imitate some simple movements of human beings. This kind of robot has many joints and a complex control circuit, and if it owns some functions human beings do not have, its control circuit will be more complex. In this thesis, the model for dynamics of robots with multi-degree of freedom is built based on lagrangian function, and the control law of robots with multi-degree of freedom is designed. Additionally, in Matlab, the numerical model of robots with six degrees of freedom is built according to the method of Joint-link parametric, which verifies the correctness of parametric of robots and the kinematic formula.