Research And Implementation Of Dynamic Modeling And Feedforward Control For Heavy Duty Robot

Taking Jiangsu Province Transformation Project of Scientific and Technological Achievements "Development and Industrialization of Core Technology of High Speed and Heavy-Duty Industrial Robots(500KG)" as the background,this dissertation aims to research the dynamic modeling,parameter identification and torque feedforward control method of heavy-duty robot.Because the 500KG robot is still in the model design phase,all the methods are realized on the 150KG robot developed by Hua Heng welding equipment Co.Ltd.Aiming at the problem of establishing dynamic model of heavy-duty robot,considering the dynamic model of heavy-duty robot is very complicated and the main force joints of robot are the first three joints,the heavy-duty robot is simplified as three joint robot.Using Newton Euler method to establish the dynamic model of the three joint robot and the symbolic computation software Maple to program,the heavy-duty robot dynamics model is calculated and its matrix form is gaven.In order to verify its correctness,treating the 150KG robot developed by Hua Heng welding equipment Co.Ltd.as the object,the heavy-duty robot model is built in the dynamics simulation software ADAMS and the joint torques calculated by the dynamic model and calculated by the dynamic simulation software ADAMS joint torque are compared.At last,the correctness of the dynamic model derived by Newton Euler method is verified.In order to obtain accurate robot dynamics model,the whole identification method is used to identify the parameters of the heavy-duty robot dynamics model.The identification process of the whole identification method is presented in detail in dissertation.Firstly,the research on the method of dynamic parameter reconstruction is carried out.Then,the genetic algorithm is used to identify the trajectory.In order to suppress the noise interference in the data collected by the robot moving by the exciting trajectory,the data filtering method based on fast Fourier transform is studied.Then,the method of dynamic parameter estimation based on the least square method is studied.Finally,the verification trajectory is chose and the correctness of the model is verified.After the study of the parameter identification method of the dynamic model of the heavy duty robot,the simulation and experiment are carried out.In the principle of the first easy after difficult,first known after the unknown,based on the software ADAMS,the simulation experiment of the parameter identification of the heavy-duty robot model is carried out,and the correctness of the parameter identification method for the dynamic model of heavy-duty robot is verified.Then,the dynamic parameter identification experiment is carried out on the robot ER-3A and the 150KG robot,and the better identification effect are also obtained.The more accurate dynamic models of the robots are obtained.Aiming at the problem of the low tracking accuracy,slow response speed and poor dynamic performance of the heavy-duty robot using classical feedback closed loop control algorithm,this paper studied the torque feedforward control method of the heavy-duty robot.A union simulation platform consist of Adams and Matlab is set up.Through the platform,the simulation of the torque feedforward control of the heavy-duty robot is carried out,which verifies the effectiveness of the torque feedforward control in improving the tracking accuracy of the robot joint and improving the response speed.Finally,based on B&R control system,the software of robot feedforward control to realize feedforward control on the 150KG robot is developed.The effectiveness of the feedforward control method is verified by experiments,and the position tracking precision of each joint of the robot and the end position tracking accuracy are improved,and the response speed of the joints is speeded up and the dynamic performance of the robot is improved.