Base On PUMA560 Industrial Robot Inertia Feedforward Technology Simulation Research

As the extension and application of industrial robots in all walks of life,the markets have higher requirements in the performance of the industrial robots.High speed,high precision, intelligent feature has become the developing direction of industrial robot.However, industrial robot is a complex electromechanical system,the industry has been doing all sorts of theory and practice research in order to achieve the high speed and precision.In this paper, we use six degree of freedom series industrial robot as the research object,on the basis of the traditional servo control,introduced inertia feedforward control technique,to ensure the robot have ability of high speed and high precision operation.Inertia feedforward control technology in the application of industrial robots is to match the joint drive ideal torque values before driving joint movement,at last adjust the output torque and purpose of achieving optimal torque output.The most important is the accuracy of the inertia feed-forward values when inertia feedforward control technology in the application of industrial robots. In order to obtain accurate inertia feedforward value,This paper using the homogeneous coordinate transformat--ion method for industrial robot kinematics modeling and using the Newton-Euler dynamic modeling method for industrial robot dynamics.Eventually establish various mathematical model of the robot joint driving moment and geometric parameters, by calling the model to matches the purpose of inertia feedforward value. In order to ensure the inertia feedforward value have a higher accuracy,we puts forward the inertia parameter identification method, it’s guarantee the robot matching the best inertia feed-forward values in the process of running.In this paper, useing the MATLAB simulation software Sim Mechanics mechanical simulation module as a foundation for the simulation, using the PUMA560 robot as simulation object model. Traditional feedback servo control system and feedforward-feedback control system has been established to control the robot simulation model. Take the robot simulation model under two different control methods running the same trajectory, and use the Sensors&Actuators module for runtime each robot joint position,torque,power and other dynamic parameters. By comparing the two dynamic parameter changes in different control way,to determine the control effect of different control method.Using the data obtained by simulation, drawing the curves of joint position, the joint torque curve and joint power curve. From those curve we know that inertia feedforward control technology makes the robot has higher control precision, make the robot has better dynamic characteristics during the process of running, reduce the jitter in the process of the robot running,improving the efficiency of the operation in the process of the robot, and saving the energy. Inertia feedforward technique used in industrial robots is beneficial to improve the performance of robot, it’s great significance for the practical production and manufacturing.