The Researh And Design Of Industrial Robot Motion Control System

With the large-scale production of modern manufacturing, industrial robot has been widely used. The industrial robot not only improves the efficiency of the production operation but also solve the labor shortage problem in recent years. Traditional commercial industrial robot control systems usually simply treat each joint as a servo structure, ignore the mechanical factors, and also have some problem of low precision, speed and acceleration beyond control. So, they don’t suit for the environment with complex action or high precision operation.In order to solve this problem, we propose an industrial robot motion control system and mainly do the following works:1. Based on the research and learning of the industrial robot kinematics and dynamics basic knowledge, using D-H method solve the robot Forward and inverse kinematic problem, using Lagrange method to establish the dynamic equation. So the control model of robot is completed.2. Introduce the basic iterative learning control algorithms, and after the study of some common iterative learning control algorithms, we proposed a switching gain feedback-aided iterative learning control algorithm and also make its convergence analysis, and also some derivations. Taking robot control model as the object, we simulate and analyze the algorithm to prove its control performance.3. In according to the requirements of industrial robot motion control system, we complete the industrial robot motion control system hardware design, propose a motion control board using STM32F4series microprocessor as the core. We also introduce the designs of some other functional modules.4. Based on the hardware of the robot motion control system, the software realization of motion control system is completed, and the interface of algorithm module is set aside. So there can be different algorithm to control the system.5. Using the system we have designed to build the experimental platform, we make an implantation of the learning control algorithm we have proposed. The results in a certain extent shows the algorithm and system have some practical values.