The Research And Design Of Control System For GJR-G2A Robot

With the remarkable improvement of domestic industrial automation, the demand of industrial robots is increasing greatly and has been widely used in the industrial fields. However, the proportion of domestic industrial robots in the whole market is very small. Therefore, increasing the industrial robot technology research efforts, shorten the gap with foreign countries, has great significance for the manufacturing industry of our country. Base on this background, this dissertation addresses the study of GJR-G2 A industrial robot, deeply analyzed the effects of the existing control methods that applied on the GJR-G2 A industrial robot. On the basis of absorbing the advantages of industrial robot control scheme at home and abroad, an open control scheme for 6-axis industrial robot based on multi-axis motion control card is proposed.Firstly, this dissertation establishment the rod coordinates system based on the GJR-G2 A industrial robot body, obtains the kinematics positive solution, inverse solution, and set up the robot’s dynamic theory model with Newton-Euler method, obtain the explicit expression of robot joint torque. Using ADAMS and MATLAB software to simulate the dynamic formula, verify its correctness.Secondly, this dissertation analyzed the advantages and disadvantages of the existing control algorithms, proposed the joint simulation method based on MATALB and ADAMS software. This paper selects the control method of independent PID based on actual application to simulate upon the GJR-G2 A industrial robot. By analyzing the moving trail, the real-time tracking error and the each axis’ s torque changes of GJR-G2 A industrial robot to prove that GJR-G2 A industrial robot’s operation quality is very well under the independent PID control method.Finally, a control scheme based on the EURO 408 motion control card and the A5 Panasonic servo motor is proposed in this paper and setting the motion control card’s working mode to speed mode, designing the electric connection diagrams of the hardware. This dissertation taking the first axis’ s motor as example to establish its servo control model and setting the velocity loop and position loop’s parameters. At last, the author designed a control software and human- machine interface for GJR-G2 A industrial robot based on the Visual Studio 2010 platform.