Integrated Joint Driver Design For Lightweight Robots

At present,in the field of domestic robots,joint servo control systems rely heavily on imports.Several foreign companies have been monopolized all the time.Some domestic companies have appeared similar products.However,its products are mostly used in large-scale machine tools and other equipment,and do not meet the joint drive applications of robots.For this situation,this thesis designs an integrated joint servo driver for lightweight robots.This paper introduces the basic principle of joint servo drive,gives the overall control strategy of the servo system and carries out simulation research.Meanwhile,the hardware platform and software of the joint driver are designed in detail,and the performance test of the whole servo system is carried out.The main work of this thesis is as follows:(1)In this thesis,the servo system current loop,speed loop and position loop control strategy are designed and specific control parameters are calculated.Aiming at the characteristics that the robot joint servo control system requires that the position control has fast response,no overshoot and good dynamic tracking performance,a compound feedforward fuzzy control algorithm is designed.In order to verify the effectiveness of the algorithm,the joint servo control system was modeled using Matlab/Simulink platform and the three closed loop system with compound feedforward fuzzy control was simulated.Simulation results show that this algorithm can eliminate overshoot,reduce system static error and improve dynamic tracking performance.(2)Unlike the conventional robot drive and actuator,the joint driver designed in this thesis can be integrated with the robot actuator.The detailed design process of each module of the joint driver hardware is given in the thesis,including the microcontroller current,power drive circuit,multi-type encoder interface and Ether CAT communication circuit.Among them,many types of encoder interfaces can be applied to a variety of position feedback forms,which is beneficial to improve the position control performance of the driver.The Ether CAT Industrial Ethernet bus provides the communication basis for coordinated movement between different joints of the robot.(3)Corresponding control software was designed in accordance with the joint driver hardware platform.The detailed process of software main program and interrupt service program is introduced in detail,and the software is debugged jointly with hardware.Meanwhile,this paper illustrates the practicality and effectiveness of the compound feedforward fuzzy control algorithm from the experimental point of view.