Research Of Multi-freedom Testing Robot Control System And Pose Error Compensation

Ultrasonic non-destructive inspection is important in products quality control. For the freeform surface parts, how to improve the precision, efficiency, the level of automation is a very important and pop problem in ultrasonic inspection. The paper is based on the project background which manufactures the Air propeller flooding automatic ultrasonic testing system. The servo control equipment based on double CPU of the IPC and the PMAC is the core of the robot system. Combined with the corresponding error compensation and control strategies, the robot system achieves the high-precision ultrasonic testing automation. The system uses the incremental encoder which realizes the closed-loop position control and the PMAC software which can adjust PID parameters adaptively. Both implement high-precision positioning of the servo system. By analyzing mechanical movement characteristics of the inspection system, we know some factors may affect the probe gesture, such as the mechanical assembly, the mechanical machining error, and so on. Given the negative direction of movement ahead of the schedule, the robot system can produce an additional movement which offers the actual error. Taking advantage of the way, the system can raise the position precision.In chapter one, this is the preface of this dissertation. The chapter firstly introduces the project background and research significance, and then highlights the study about the high-precision ultrasonic testing robot system and error compensation at home and abroad .In the end, the dissertation show major content and organization of the various chapters.In chapter two, this introduce the mechanical structure of the robot system. The section mainly achieves the explanation about the robot system' mechanical structure and the choice on the power-drive and robot control mode.In chapter three, this is the study and research of the ultrasonic testing robot system. The section focuses on exploitation of the ultrasonic testing robot CNC system, analyzing the design and implementation of the hardware and software. This chapter introduces the robot system hardware architecture and explains those main components. In the end, the section introduces the PMAC's PID control principle, the adjustment method and optimization about PID parameters. At the same time, we apply the PID adaptively adjustment method to meet the need.The chapter four introduces kinematics modeling method on robot system Firstly; the section introduces kinematics modeling method on robot system. After analyzing the robot structure theory, we establish the kinematical model of the ultrasonic testing robot system. Finally, according to the actual thing and need of the project, we gain the Forward Kinematics and inverse kinematics, which is the theoretical basis of the robot error compensation in chapter five.In chapter five, this is the error analysis and compensation of the ultrasonic inspecting robot system. This chapter analyzes the sources of error, Appling the perturbation error compensation method eliminates the error which was caused by some factors. We make every pole move additional variable ahead of schedule which makes tiny additional campaigns on the end of the robot.The additional campaigns can offset or reduce the actual error of the robot system. Finally, the experimental dates validates that error compensation method is practicalities and feasibilities.The chapter six is the Summary and Outlook .The section summarizes the retrospections and conclusions of this paper. At the same time, the future work suggestions were given.