Analysis And Research On The Motion Control Of Industrial Robots

Motion control algorithms are studied about the HT001industrial robot jointlydeveloped by Yanshan University and Ningbo Haitian Group, which include basicresearch and simulation analysis on kinematic, statics, dynamics, robotic systems andsimulation software, and the main contents are as follows:This paper analyzes the prototype model of HT001industrial robot, in which the linkcoordinate system is created by the classic D-H method, the parameters of the robot linkare determined, the industrial robot kinematics general equation is gotten, theposition/orientation matrixes of the robot are described by X-Y-Z Euler angles, the D-Hmethod and the MD-H method are contrasted and the transformation matrix is proposedusing two methods. The Matlab and Adams jointly verify the robot kinematics generalequation, and the workspace of robot is solved by surface envelope superposition methodand Monte Carlo method.In inverse kinematics, the eight closed form solutions of the HT001industrial robotare gotten by using the algebraic method, and the optimal solution of6-DOF industrialrobot is gotten using the “shortest distance” method and the “weighting factor” method,then the inverse kinematics equation is verified by Matlab numerical analysis metod andAdams virtual prototyping method and the test of kinematics and inverse kinematics isconducted on the HT001industrial robot.The equations of statics and dynamics of the HT001industrial robot are analyzed,which include analyzing the forces and torques on the end effecter in motion or staticequilibrium by use of speed and force transmission formula between links and Newton-Euler method, solving the driving torque of each joint and obtaining the statics anddynamics equations at last. The three-dimensional modeling of HT001robot is createdwith SolidWorks, then it is imported to Adams to build the virtual prototype, at the sametime, the statics and dynamics equations of HT001industrial robot are verifiedrespectively without ignoring gravity conditions.Introduce the HT001industrial robot prototype system, including the composition of its hardware system. With Ningbo Haitian Group jointly developed the robot teachpendant which fused the control algorithm. Based on QT, VS2012and OpenGL softwaretools developed the industrial robot simulation software, realized simulation of the robotmotion initially.