Design Of Control System And Research On Application Of Dual Control Method For PUMA560 Robot

This paper aims at the design of control system for the PUMA560 robot and theoretical exploration for control methods for robots. We have a PUMA560 robot in the laboratory, with the original control system aged and damaged, and relevant document missing. The purpose of the paper is to design a new controller for the robot, transform it into a platform used for teaching, on which algorithms can be experimented. In this way laboratory resources can be fully utilized, and cost of scientific research can be reduced. The platform can integrate various sensors such as vision sensors so as to enable more advanced robot control.This paper firstly builds a mathematical model for the robot arm based on D-H method, and carries out kinematics analysis and synthesis for the robot. On the other hand, starting with description of position and orientation of a space object, kinematics equation is established. The relation between end position and orientation and joint angles is obtained and the robot's transformation matrix is calculated. On the other hand, solution to the kinematics equation is discussed, making it possible to obtain the values of joint angles corresponding to given end position and orientation. In order to give direct images on the kinematic analysis and synthesis, simulation of forward and inverse kinematics is done using the Robotics Toolbox.On the basis of kinematics, the joint servo control system is designed. In the hardware, the original control system and DC servo motor system is studied. DC motor driving circuit based on SG3524 and L6203 is designed and debugged. From the aspect of theory, the models for each DC servo motor are established and the performances using PI controller are simulated. In the software, the joint angle real time control is implemented under RTW.The effect of the change of inertia in control found in the experiment is critical in the control process. Considering the parameters changes in control process, the adaptive control theory is applied in joint servo control. However, adaptive control has its own limitation. To improve control effectiveness, dual control is added in and cautious controller and adaptive dual controller were studied. Model reference adaptive dual control algorithm is applied to the joints of PUMA560. These three control systems are simulated. It turned out that adaptive dual control has superiority over the other two kinds of controllers.