Research On Softening Control Method Of Sub - Steel Manipulator

The control problems of robot have received great attention in theoretical and engineering for many years. When the robot model is exactly known, the technique of feedback linearization in nonlinear systems can solve the problems very well. However, the parameters of dynamic model of robotic manipulators may also be subject to change when the manipulator goes about its task. Meanwhile, the system can be influenced by uncertainties such as external disturbance and payload change. Therefore, it is necessary to propose other control methods so as to enhance the adaptive ability and robustness.In this dissertation, the robotic system of steel bar splitting with unknown model is regarded as controlled plant. The various position and force control schemes based intelligent algorithms are developed using the references available.Firstly, this paper introduced the background, purpose and significance of the research, the development status of robot trajectory tracking control and robot force control. The mathematical model of the robot is established, and on the basis of this, the equations of a steel bar robot in free space and constrained space is established, and analyze its characteristics.Second, this paper introduced the co-simulation of ADAMS and MATLAB. The virtual prototype model of the steel bar robot is established by using the virtual prototype software ADAMS and the dynamic analysis is carried out. The serious impact and vibration phenomenon of the steel in the process of the steel was split. The control system of the co-simulation system is established in MATLAB/Simulink. The design process of co-simulation technology.Then, the knowledge of PID control theory is introduced. Based on this, the trajectory tracking problem is presented. Based on the robust adaptive PD trajectory tracking controller, the correctness and effectiveness of the designed trajectory tracking controller are verified by the co-simulation technology.Finally, the study of the impedance control principle, steel bar robot hand shock oscillations in the process of the split steel and instability of the principle and mechanical manipulator and environmental exposure equivalent model, on this based, the position impedance controller is designed, and through the co-simulation technology to verify the robot force control algorithm is effective and correct.