Design Of Control System For DGR-5A Robot

Industrial robots are being used more and more widely in modern countries. Under this circumstance it is an important field to develop teaching robots that can imitate industrial robotic systems.In this paper DGR-5A five-freedom teaching robot were regard as a subject, and the main research as follows:At first, an effective analytical method was found to solve the kinematics and inverse kinematics of DGR-5A five-freedom teaching robot, and it was testified by the simulation of computer. In order to ascertain the motion path in space, the basic theories of trajectory tracking were discussed initially.Then, the precise five-freedom dynamic model including the robotic system problems such as coupling, nonlinear and so on was established. Based on the model the control algorithm was researched. A design method of robust tracking control for rigid-link robots with uncertainties was proposed, its controller was composed by the computed-torque controller based on nominal model and a robust compensating controller based on uncertain parameters. The availability of this control method was shown by theory and simulation.In the end, the design and implement of the servo-system hardware on robot were described. Taking the industrial computer as the kernel, the system structure was simplified by extending the multi-channel in one piece of CPLD, the servo-control precision and working stability were improved effectively by the full digital sample of the signal for speed circuit and position circuit. And the advantages of the system are simple,low–cost and stable.