Research Of Dynamics Analysis And Control Method Of PUMA560 Joint Robot

As an integral part of industrial automation system,joint robot with artificial intelligence technology,virtual prototype technology and co-simulation technology has been developing rapidly.In particular,the development of coordinated control technology makes the robot trajectory tracking control advance in the direction of the higher precision and higher efficiency,and makes the whole robot system has high fitting human nature,high universality,high scalability,and so on.In this paper,the simulation of kinematics and dynamics for PUMA560 joint robot is carried out,and trajectory tracking systems based on traditional control,modern control and intelligent control aredesigned for a 2-DOF joint robot.According to the simulation result of single control,the coordinated control strategy is designed to realize the coordinated and mixed control of the robot.Firstly,the D-H model of the PUMA560 joint robot is established,and analytic method is used to analyze and solve the kinematics forward and inverse problems.Then Robotics Toolbox in MATLAB is used for kinematics simulation and trajectory planning,which angular displacement curve of the robot is saved.After that,the 3D model of PUMA560 joint robot is built in ADAMS/View,and the preserved angular displacement curve is added into ADAMS.The connectors and motions are added,then the kinematics and dynamics simulation are carried out.The Lagrange method is used to derive the dynamics equation of the robot,and the robot is reduced to a two-degree-of-freedom model according to the dynamic simulation results.Input/output state variables are added to the robot,and the bidirectional communication of ADAMS and MATLAB is actualized by ADAMS/Control moduleBased on the above simulation analysis,the modern control system based on linear sliding mode of exponential reaching law and fuzzy sliding mode algorithm and intelligent control based on port-controlled dissipative Hamiltonian(PCHD)algorithm are designed and realized.The detailed stability analysis of the above control systemsis carried out,and the systemsare set up in MATLAB/Simulink for simulation experiment.Finally,a coordinated control strategy based on the exponential function is designed by analyzing the simulation results and the complementarity between the algorithms.The linear sliding mode control is respectively coordinated with the PCHD control.The coordinated trajectory tracking control system of the robot is built and co-simulation is conducted.The simulation results show that the coordinated control strategy effectively combines the advantages of the two algorithms,and the dynamic and steady performance of the control system is excellent,which meets the design requirements.