Industrial Robot Controller Design And Impedance Control Research

The robot controller is the core component of the industrial robot.Aiming at the problems related to industrial robot controller development,collision detection and impedance control,this thesis designed and implemented an industrial robot controller,and conducted research on robot collision detection and impedance control.Aiming at the problems of high cost,insufficient openness,and poor scalability of existing robot controllers,a design scheme of industrial robot controller with "industrial computer + Linux system + Ether CAT bus" as the core architecture was proposed,and the robot controller was realized by this scheme.The robot's forward and inverse kinematics transformation was analyzed.The joint space trajectory planning method and the Cartesian space linear trajectory,arc trajectory and space pose planning method were studied.The experimental results showed that the controller can stably control the synchronous operation of multiple joints,and can realize point-to-point,linear trajectory,and circular arc trajectory motion.Aiming at the realization of collision detection of robot without force sensor,a robot dynamics model considering gearbox inertia and motor rotor inertia was proposed,the excitation trajectory for parameter identification was optimized,and the least square method was used to identify dynamic parameters.The joint torque of the robot was calculated based on the identified dynamic model and the motion state of the robot,and the effect of the external force on the robot was estimated through the theoretical calculation torque and the measured current of the driver,and whether the robot collides was detected by this.Experiments showed that under the condition of no force sensor,the collision detection method based on the dynamic model could effectively detect the collision of the robot.Aiming at the control problem of the contact force between the robot and the environment,a fractional-order impedance control strategy and its control system parameter optimization design method was proposed.The simulation experiment results showed that the fractional-order impedance control method is effective,and has faster response,smaller overshoot and stronger anti-interference than the traditional integer-order impedance control method.