Research Of Control Technology Of DGR-5A Robot

As a tool for education of robotic technology, computer technology and mechatronics technology, education-robot is of important value to cultivate people and popularize new technology. And the technology of servo control is a key aspect in the robot control systems. Therefore , The research work of this paper is mainly about servo control systems of DGR-5A robot.3 loop (that is current loop, speed loop,position loop)are designed in the robot control systems. In consideration of the speed response of the systems and the convenience of designing the position controller, current loop and speed loop are designed by analog method and position loop is designed by digital method using industry computer. Therefore , there are two aspect in the paper, including designing of hardware and designing of position loop controller.The design of hardware include the circuit of singals of feedback, the module of speed controller and current controller, moreover PWM servo control is also concerned.As to the module of position controller , the design and compare of control scheme is mainly concerned in the paper. In consideration of the uncertain system and disturbances, and Stick-slip in low speed step. Adaptive Fuzzy Slide Mode Control(AFSMC) is proprosed in module of position controller. Finally, this paper analysis the results of the simulation. Simulated results obtained verify the validity of the proposed method in terms of robust performance, quick response and reduced chattering, good dynamic-static performance in DC servo system.