| Industrial robots have been widely used in industrial control automation. However, industrial robot technology in our country is still with outdated technology, industries equipped with robots mostly depend on imports. The control system is the core part of robot. It has great effect on the performance of robot. In this paper, a set of motion controller for multi-axis is researched and developed independently. And the paper carried out research on some key technologies of robot control. The main content of the full text is as follows:Based on the domestic research of robot technology, combined with the motion control technology development, Planning and design of the robot motion control system has been made, and the paper has put forward control system with the architecture of Arm chip and motion controlling chip. Then the hardware circuit is completed.This paper focuses on the special-purpose motion controller’ design by analysising of the requirements of robot motion control system. And the controlling system based on μC/OS-II is tested.Accoring to the need, a good user interface is desided. Since DMA is used. The communication becomes better.Position servo control algorithm has been studied to obtain high precision position control function、 industry high tracking performance and good trajectory control accuracy. On the basis of PID + feed forward control introduced the stronger robustness of fuzzy control, by the means of theoretical analysis and experimental verification, fuzzy PID + speed feed-forward control strategy was finally choosed. The paper completed a single joint position control experiment which has obtained the good effect of both dynamic tracking and control accuracy. |
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