The Research Of Adrc Parameter Tuning Method And It’s Application On Bolt Assembling Robotic Manipulator

Recently, as the human requirement increases in the field of automation of industrial, “Machine Substitutions” has been a trend and the research of Industrial Robot has received the unprecedented focus. Generally speaking, it is necessary to design an Industrial Robot which can realize automatic bolt assembly in view of the bolt assembly is a high repeatability and intensity work in manufacturing industry. To solve this problem a bolt assembly robot manipulator is designed and an Active Disturbance Rejection Controller(ADRC) is proposed. The main contents are as follows.1. A novel parameter tuning method based on settling and observing time is proposed for parameter tuning problem of ADRC with complex parameters. On the one hand, a method is given based on settling time to tune parameterspk anddk of nonlinear controller by establishing the relation between settling time and controller bandwidth. On the other hand, a novel parameter tuning scheme is presented for extended state observer(ESO) by introducing the conception of observing time, which optimizes the existed observer bandwidth-based method and realizes the quick parameter tuning.2. A robotic manipulator which can realize bolt assembly is proposed for automated bolt assembly work. It totally has eight Degree of Freedom(DOF). Among that, the basal structure has five DOF for posture control. The bolt assembly hand which has three DOF is composed of upper and lower paw. On the one hand, the stud assembling is realized by upper paw sleeve wrench. On the other hand, the gripping and assembling of nut and washer are realized by lower paw monkey wrench. The grab and replacement of all components are realized by electromagnet.3. The kinematics and dynamics model are established. In the D-H coordinate system, Firstly, the kinematics model of robotic manipulator is established and the joint angle is computed by the inverse kinematics according to the designed link parameter. Secondly, the Lagrange dynamics model of robotic manipulator is established by the Lagrange function. Finally the trajectory is planned and simulated by high order polynomial and circular trajectory planning method.4. The controller of bolt assembly manipulator is designed by ADRC. On the base of dynamics model, an ADRC controller is proposed for estimating the unknown internal uncertainty and external disturbance. The precise trajectory tracking problem and automatic bolt assembly are realized by ADRC.