Posture Stabilization of Manipulator Based on Rotation Platform

This paper proposes a novel multi-degree of freedom robot system, which is designed mainly for researching posture stabilization problem of manipulator. The system is composed of a three-axis rotation platform, a five degrees of freedom manipulator mounted on the rotation platform, and corresponding control systems. Based on the system, many research contents of robotics can be investigated, such as modeling to kinematics and dynamics of multi-degree of freedom robot, trajectory planning, posture stabilization, control algorithms, and so on. In this paper, firstly the composition of the proposed research system is introduced briefly, then forward kinematics models of manipulator and whole multi-degree of freedom robot are established. The problems of posture stabilization for manipulator under two cases are discussed. The solutions of posture stabilization based on angle compensation and inverse kinematics are proposed. The simulation experiment results show that the posture stabilization algorithms proposed is valid and the system designed is reasonable.