Wang Fengxiang
School of Instrument and Electronics，North University of China，Taiyuan 030051，ChinaZhang Zhijie
1.School of Instrument and Electronics，North University of China，Taiyuan 030051，China Key Laboratory of Instrument Science & Dynamic Measurement，Ministry of Education，North University of China，Taiyuan 030051，ChinaChen Haoze
School of Instrument and Electronics，North University of China，Taiyuan 030051，China1.School of Instrument and Electronics，North University of China，Taiyuan 030051，China Key Laboratory of Instrument Science & Dynamic Measurement，Ministry of Education，North University of China，Taiyuan 030051，China
TP241
In view of the very popular robot technology, relying on the existing resources of the laboratory, a small six degree of freedom (DOF) robot arm system is built. The 6-DOF robot arm system consists of five modules: power supply and conditioning module, MCU control module, mechanical structure of 6-DOF robot arm, attitude control Bluetooth handle, 720p high-definition camera module. Subsequently, through the forward kinematics and inverse kinematics analysis of the manipulator system based on D-H model, the attitude control of the manipulator is further strengthened. Finally, through SP2 Bluetooth handle and Zide_Mini (v1.33) upper computer control software realizes the precise control of the 6-DOF manipulator system. The above research has laid the most important foundation for the further research of the robot arm system.
