Research On Robotic High Precision Tracking Based Onmultiaxial Coupling Synchronized Control

As the master of automation, industrial robot is the development tendency of the global manufacturing in the future. The domestic robot’s key components such as servo control algorithm are far behind the same products abroad. Designing a computationally simple, wide applicable and easy- to- use core servo control algorithm for industrial robots to improve the precision of robot trajectory is of great significance. It is also meaningful for breaking foreign robot technological monopoly. O n the basis of the controller hardware system based on Ether C AT bus and the application background of the industrial robots in welding, cutting, etc. This paper mainly research on robotic high precis ion track based on mult i- axial coupling synchronized control.Firstly, the robot IRB120 kinematics is established. Jacobi and Hessian matrix are obtained. In addition the accuracy of the model is verified. The robot dynamic model is set up. The virtual prototype model of the robot is built by ADAMS. Simulation is set up to verify theory.Secondly, robot any path is trajectory planning. For linear and circular path, cross coupling control algorithm based on contour error is established. For the complex spline curve, nonlinear PD and relative coupling control algorithm based on the minimum number of correlative axis is proposed. Simulat ion results show that the algorithm can realize high- precision trajectory tracking with small amount of calculation and simple.In addit ion, the calculation torque relative coupling control with Lu Gre friction mode compensation is put up to solve the strongly nonlinear effect caused by high speed of robot and the external disturbance in industrial occasions. Simulation results show that the controller can reduce amount of calculation and make the tracking error converge fast. It also has robust characteristics.Finally, the open control system base on Ether C AT bus for the experiment platform is set up. The robotic high precision track experiment based on mult i-axial coupling synchronized control is designed, the experiment results show that compared with the traditional multi- axial robot control method, the proposed algorithm can significantly reduce the robot contour error in the simplified calculation.The tracking accuracy is improve. Compared with imported robot controller, the proposed algorithm is close to import robot controller control effect. The applicability of the proposed algorithm is improved further.