Research And Development On The Control System Of Multi-axis Robot

Industrial robots have been widely used in industrial control automation, however, industrialrobot technology in our country is still with outdated technology, industries equipped with robotsmostly depend on imports. The control system is the core part of robot, it has great effect on theperformance of robot. In this paper, a set of motion controller for multi-axis is researched anddeveloped independently,And the paper carried out research on some key technologies of robotcontrol. The main content of the full text is as follows:1）Based on the domestic research of robot technology, combined with the motion controltechnology development, Planning and design of the robot motion control system has been made, andthe paper has put forward control system with the architecture of PC+motion controller. PC act as thehost controller and communicates with the underlying dedicated motion controller.2）This paper focuses on the special-purpose motion controller’ design based on DSP and FPGAby analysising of the requirements of robot motion control system. Among them, the DSP is designedfor the task scheduling of robots and the FPGA is responsible for the control of the system’s functioninterface modules.3）Researche on the trajectory planning technology and the speed curve control, line and arc’sbasic track interpolation has been studied and the S type curve planning algorithm has beenintroduced to ensure the stability. PVT interpolation, linear interpolation and B spline interpolationalgorithm are designed in joint space based on the analysis on the both the point to point control andcontinuous path control. Both guarantee the rapid smooth completion of the robot’s movement in jointspace.4) Position servo control algorithm has been studied to obtain high precision position controlfunction、industry high tracking performance and good trajectory control accuracy. On the basis ofPID+feed forward control introduced the stronger robustness of fuzzy control, by the means oftheoretical analysis and experimental verification, fuzzy PID+speed feed-forward control strategywas finally choosed. The paper completed a single joint position control experiment which hasobtained the good effect of both dynamic tracking and control accuracy.