Robot Plane Machining Drilling Trajectory Planning And Position Tracking Control System Design

Sheet metal forming technology has been widely applied in all walks of life due to its characteristics of the lighter weight,the higher strength,the lower cost and mass production performance.The traditional sheet metal processing methods are mainly manual operation,low efficiency,poor process,and long duplication of work results in poor processing quality uniformity.In the current sheet metal flexible manufacturing,the diversified sheet metal parts have become the kind of the people's pursuit of product individuation and diversified production.In order to achieve this goal,many industry prefer choose using industrial robot as an automatic unit into the flexible manufacturing system of sheet metal processing.The research and development of the flexible manufacturing system with industrial robot as an automatic processing unit has become an urgent technical requirement for improving the level of sheet metal manufacturing industry.This paper,based on the principle of robotics and control theory,aims at solving the problem of the large metal processing machine tools to problems with Kawasaki BA006 N six-DOF serial robot as an example,it built a large metal processing industrial robot drilling model,trajectory planning,the design of the servo control system,and the simulation of industrial robot large metal drilling process,in order to improve the product design performance,reduce design cost and provide technical support to reduce product development time.First,according to the drilling process planning according to the drilling technology of sheet metal,the drilling process has been designed.With the help of Robotics toolbox of MATLAB,it has solved the joint end effector pose different positions and different positions of the corresponding joint angle,using the STEP function and POLY function of three order polynomial trajectory planning of robot drilling.And the two function for the driver is loaded to the virtual prototype model of robot in the ADAMS,simulation of the trajectory set sheetmetal drilling process,analyzed the virtual drill four holes center displacement and hole positioning dimension error theory of sheet metal,meet the selected robot error requirement for each joint of the robot position of the drive function.Function to provide technical support for the design and compensation of robot drilling position servo control system of sheet metal.Secondly,through the simulation curves of load drill in drilling process for ANSYS finite element analysis software,research on the changes of the robot end drill process force or torque,and the kinematics analysis of the joint angular displacement for the force and torque curve of driving and finite element analysis for the robot end load,simulation of the robot end effector continuous processing and trajectory of each joint force or torque changes,as joint position tracking disturbance in controller design.Finally,select the model of DC motor as the joint drive.By using the MATLAB/simulink control module to design a position tracking controller of DC motor,fuzzy adaptive PID control,simulation of dynamic fuzzy adaptive PID tracking control of DC motor position tracking performance,analysis results show that the controller has good dynamic performance and disturbance of joint position tracking.At the same time with the MATLAB/simulink package single joint motor control model and MATLAB/Simmechanics simulation module packaging robot 6 rotating joint mechanism model assembly,construction of each joint motor control six DOF mechanical arm model,simulation of industrial robot drilling process of large sheet metal expected trajectory tracking control of motion,which can provide reference for sheet metal robot servo drive drilling the control system design program.Through the analysis of industrial robot with six degrees of freedom series of large sheet metal processing drilling simulation,not only to achieve the industrial robot model,good visibility control simulation,provides a theoretical basis for the design of technology and servo for flexible line automatic processing of other single function procedure drive control system programming.