An Optimizing Method Of Low Energy Control Problem On Palletizing Robot

Revolved around the topic of low energy consumption control in palletizing robot,taking the MD-1200 palletizing robot which was developed by Tianjin University and a type of single joint system composing of a servo motor and a reduction box as the research object,this dissertation researched on the modeling method based on LuGre model in single joint system,the optimizing method of low energy consumption control used in the single joint system and the palletizing robots.The following achievements have been accomplished:Focused on a type of single joint system composing of a servo motor and a reduction box,a modeling method based on Lu Gre model has been proposed.This method divides the single joint system into two parts: the high speed part(composing of the servo motor and the high speed axis of the reduction box)and the low speed part(composing of the low speed axis of the reduction box and the loads)and separately builds their dynamic models based on the LuGre model.In order to identify the parameters in the LuGre model,the least square method and responds analysis method were used.Simulation results of the Simulink model for dynamic model and LuGre model have showed that this modeling method is effective and laid the foundation for follow-up studies.On the base of building the energy consumption model for the single joint system,the author firstly analyzed the low energy consumption control problem in the single joint system and pointed out that it's essence is the searching for the low energy consumption trajectory.And then,a optimization method,taking the energy consumption as the optimal target,was proposed.This method taking the position,velocity and acceleration of the starting moment and the ending moment in a motion,uses the fourier series to represent any trajectory and combines the genetic algorithm to optimize the fourier series.By applying this method to a specific example's calculation and comparing the calculation's results with the 3-4-5 polynomial,a conclusion has been made that this optimizing method is effective in the single joint system low energy control problem.This dissertation applied the optimizing method used above to the MD-1200 palletizing robot to optimizing it's energy consumption.from the perspective of joint space in palletizing robot.To improve the drawbacks of slow convergence in genetic algorithm,two improving strategies have been present.One is to keep the total number of coefficient of fourier series and anther is to increasing the number of coefficient of fourier series gradually.As the calculation results of a specific example shows,both of the strategies are effective to some extent.At the same time,compared with the 3-4-5 polynomial in the experiment of Simulation in Solidworks Motion andprototype testing,the results proved the validity of the optimizing method used.This dissertation has presented a new method of optimizing in the low energy control problem of palletizing robots in the joint space and a new study approach for the low energy control of palletizing robot.