Research And Application On Force Position Control Of Robot

With the advancement of technology, industrial robots have been widely used in production automation. When robots engaged in the works in contact with the environment such as assembly , medical technology, polishing and scrubbing operations, the robot position and force are needed to be controlled to achieve the best control effect. Numerical control system is a typical robotics application.By referring to a great deal of the available information, in this paper, the further research about basic control theory and related technology of robot was done,and set up a hardware-in-loop simulation system. In this system, a series of theoretical research and experimental were done. The main work of this paper as follows:1,It is difficult to achieve the force position control of the numerical control system, and the adjustment of the parameters is very complex. A hardware-in-loop simulation method was developed based on Q8 card WinCon software and MATLAB software. X-Y-Z three-axis motion platform was treated as the control object. The components of hardware and software of the system were presented in detail.2,In order to improve the dynamic response quality of force sensor and the control accuracy, least-squares identification method was used to establish a dynamic mathematical model of the force sensor. A digital compensator was designed to improve the dynamic response characteristics of the force sensor. Through the MATLAB software and the actual force/position control obtain the simulation results of compensation. The response rate of force feedback signal has been improved significantly.3,In order to solve the problem of impact in robotic force position control during the initial state, the hyperbolic tangent filter function which was constituted a non-linear PID was used to process tracking error and speed. The Popov method was applied to prove the stability of the system.For the purpose of the constant force control of the Z-axis, the controller with the position loop and the force loop were designed in the Simulink software. The results show that the given controller is reasonable, parameters are easy to adjust, and actual effect is intuitive. After the force sensor dynamic compensator connected in series, the dynamic response has been improved. The response rate of force feedback signal has been improved significantly. By filter function obtain the nonlinear PID controller, the problem of the initial impact about force position control has been greatly improved. No impact force/position control of the robot to has been achieved.