The Research Of Robot Control System Based On Dynamic Parameter Identification

In recent years, the development and application of the industry robot has become an irresistible trend in our country,the research on key technology is the central problem for robot development, especially in some advanced applications, such as welding, polishing, automatic potting pasternand and other application areas, the requirement for protection level, velocity,acceleration, repeatability, smoothness is very strict. In this article the research about robot control system design based on dynamic parameter identification has been carried out supported by the Anhui Province Natural Science Fund Project and the actual industrial demand of Efort company.This article firstly introduces the development of robot at home and abroad, and then defines the goal and technical problems this article will study. According to the 6-joint robot manipulator model this paper offers the mechanical parameters of the robot,builds the mathematical model based on the D-H coordinates, and describes the forward kinematics and inverse kinematics, all of these are the basis for the following research.The robot dynamics model is built using Lagrange method according to the principle of conservation of energy.This paper completes the algorithm derivation and validation, and then analyzes the related factors affecting the dynamic parameter identification and finishs the dynamic parameter identification using the least squares method.The model of robot servo controller is established based on the above research.This article studies dynamics feedforward control technology, realizes the application of feedforward control, real-time operating system, the high speed bus technology etc. Finally the design of ER50 robot is completed. The result shows that the robot has good precision and dynamic performance through the test experiment.Finally the paper summarizes the content and puts forward the direction of the research.