Motion Analysis And Simulation Of Trajectory Tracking Control Of 6R Robotic On Mobile Track

One typical form of motion robot is the one with robot on moving track platform, which compared to traditional unmovable robotics has tremendous advantage in aspects like position adaptability, flexibility and high effectiveness, such advantages leading wide application in areas like assembly, spraying, welding and carrying etc.Based on SANSUN’s six kilogram 6R track motion robotic and its parameters, kinematics of the robot’s system has been designed by using D-H coordination transfer method and analytic method. Furthermore, to carry on research of trajectory tracking control under different controlling algorithm, the system’s simulation model is created with three dimension model designed first, then SimMechanics simulating model completed, for which reliability of dynamic simulation model has been testified by comparing the calculation result of dynamic equation with simulation model’s in terms of accuracy and response speed. New controlling algorithm is designed based on Fuzzy PID control, with system’s error acceleration being included in compensating original Fuzzy PID’s three parameters. At the last, with the combination of controlling algorithms and simulation model, PID, Fuzzy PID and acceleration based Fuzzy PID, three of them have been simulated to test availability of each one and effectiveness of new controlling algorithm is validated in system’s trajectory tracking simulation process.Content of the paper’s research listed as follows:Building three-dimension models of robot system according to real parameters by utilizing Pro/E. Based on D-H mathematical method, the kinematic analysis of track motion robot’s system is finished. Furthermore, another solution to solve inverse kinematic of the system is come up with based on substation of track, which simplifies the process of inverse kinematic calculation, and perhaps the control process of whole system.Lagrange method is used to analyze dynamic performance of robot’s system, also dynamic simulation model using Matlab/SimMechanics is created to conduct research. Based on simulation results through the model, the consistence and correctness of dynamic equation and simulation model have been verified, which founds robot system’s trajectory tracking research after.A new control algorithm based on original Fuzzy PID control algorithm with error acceleration included in designing a sub fuzzy controller to compensate Fuzzy PID’s three parameters that already are adapted through fuzzy controller. From this point, the new one includes two fuzzy controllers, which has been proved with high accuracy and faster response speed to other two algorithms through Simulink simulation.With combination of SimMechanics mechanism simulation model and Simulink control algorithms model, researches on the performance of different control algorithm in robot system’s trajectory tracking in terms of position accuracy and response speed are conducted. The simulation results concluded prove in theory that acceleration based Fuzzy PID control algorithm has the best performance compared with the other two.