Research On KUKA Industrial Robot Dynamics Model Establishment And Synchronous Control

The industrial robots as the representative of advanced and intelligent industrial equipment,have a very important position in the social production.Gantry Industrial Robot Synchronous performance is an important branch of robot research.Therefore,it is very important to improve the accuracy of synchronous control.In this paper,take the KUKA six-axis industrial robots and gantry industrial robots for example,we did the depth study of the kinematics,dynamics and the synchronization control for industrial robots.at the last,carried out the experimental study in the industrial robot platform.The following are the main contents of this paper:Firstly,Based on the basic theory of robot,the kinematics modeling and simulation analysis of industrial robots are carried out.the standard D-H method is adopted to analyze the kinematics of six-axis robots in this article.And used the D-H method to carry out the gantry industrial robot configuration,using the MATLAB Robotics Toolbox to complete the kinematics simulation,combined with MATLAB graphics and powerful computing functions,Get the movement of the robot end trajectory and joint angle changes.Secondly,the general equation of the dynamic model of the six-axis industrial robot is given by using the Langrange function method.The dynamic equation of the KUKA industrial robot is given.The dynamic model of Gantry three-axis industrial robot was deduced according to the Langrange function method.The dynamic model is simulated,and the curves of the force and the torque are obtained with time.The actual physical meaning represented by the curve is analyzed.Thirdly,aiming at the problem of the large gantry industrial robot system is not synchronized,a synchronous controller based on interval matrix is proposed.The synchronous controller and the load torque observer model of the double motor are established.At the last,the simulation error of the double motor system is 0.28 rpm.Finally,carried out the experiment of the model and the synchronous accuracy of the gantry industrial robot,the position repeatability and the position accuracy are obtained on the KUKA industrial robot platform.The dynamic experiment of Gantry industrial robot is completed,and the real time running parameter curve is obtained by oscilloscope.The system,which is smooth and stable,has good practical application value.