Design Of Control System And Research On The Control Method Of Dual-Arm Robot

Traditional industrial robot is widely used in handling,welding and forging.Traditional industrial robot is suitable for the repetitive work.However,with the rapid development of electronic information industry,the limitations of traditional industrial robot are becoming more and more difficult to meet the requirements of operation.Industrial robot needs upgrading,dual-arm robot has an advantage in the precision assembly and fine operation,dual-arm robot has more flexible robotic arms.Therefore,the research of dual-arm robot is very urgent and it is of great significance to the field of precision assembly and operation.In this paper,its research object is the dual-arm robot,its research content is control system design and control method design.It combines the practical application of dual-arm robots.Experiment platform is built to carry out relevant research work.First of all,this paper researched on the development status quo of domestic and foreign dual-arm robot.Based on the research status of the dual-arm robot at home and abroad,this research was aimed at arguing the control system and the control method and looking into the shortage.Secondly,according to the shortage of the current system of the dual-arm robot,this thesis deals with the shortage,it proposes the bus-based control architecture to meet the current requirements and the bus-based control architecture has the unique advantages.This thesis provides the design of the whole control system,the hardware design of the control system,the key device selection and the software design of the control system.Thirdly,this paper provides the principle of single joint position control and two kinds of control methods:traditional PID control method and fuzzy control method.This paper illustrates the principle and difference of the two methods.By MATLAB simulation,it shows that the traditional PID control method could not satisfy the motion characteristics of the dual-arm robot system.This paper puts forward the fuzzy PI control method.The simulation results show that the fuzzy PI control method is more suitable for single-joint position control of the dual-arm robot than the traditional PID control method.Finally,according to the actual operation needs of the factory,this paper designs the production line and builds the experimental platform of the dual-arm robot.It gives the hardware platform design and software platform design of the production line,and carries out repeated experiments on the experimental platform to solve the problems of serial communication failure and CAN network communication instability.The production line achieves the smooth assembly of car lights.In summary,this paper verifies the effectiveness of the control system architecture design and control method and it provides a new idea for the research of dual-arm robots.