STUDY ON CONTROL OF A SIX-DOF ACTIVE WRIST

This paper mainly introduces the structural design of control system for a six-DOF active wrist and discusses the control strategy in detail.According to the wrist's geometric characteristics, we deal with the controlled system model in linearly and propose a multi-dimensional PD control strategy.The strategy is implemented at a microcomputer controller of STD-XT and tested for the six-DOF active wrist.The introduced control system is simple in structure and easy to implement.The experimental results show that the designed control system can meet the demands of designed specifications for the active wrist.