Research On Control Method Of Heavy Duty Industrial Robot With Six Degrees Of Freedom

As heavy-duty industrial robots play an increasingly important role in industrial automation,the research on heavy loads continues to deepen,from the enhancement of the most basic joint load capacity to the addition of robot vision,to increase the load capacity of heavy-duty robots and The degree of intelligence has important significance.This paper studies the problem of robot motion solving,single joint torque output and intelligent position tracking,and the construction of robot three-dimensional simulation platform.By establishing a robot motion model,the robot's positive and negative motion solution is improved,and the robot's motion space is solved by using MATLAB.In addition,the joint space trajectory planning method and Cartesian space trajectory planning method are respectively proposed for the robot's motion trajectory planning problem.Simulated solution through MATLAB.In order to improve the output torque of single joint,this paper proposes an inversion sliding mode control algorithm to reduce the synchronization error of dual motors and enhance the robustness of the synchronous speed control system.Through the MATLAB experimental simulation,it proves that the proposed dual motor The synchronization algorithm has obvious effects on reducing the synchronization error of the robot and improving the control accuracy.Finally,in order to improve the intelligent level of industrial robots,visual tracking and measurement algorithms are introduced to achieve robot-based position servo control,and application software is written to achieve object tracking measurement.Finally,the designed six-degree-of-freedom heavy-duty robot three-dimensional model is imported into MATLAB.The motion solution and planning algorithm proposed in this paper combines the visual measurement information to achieve the position servo control of the robot.In addition,three-dimensional modeling and motion simulation of the robot arm are performed under the robot operating system ROS,and a three-dimensional simulation environment of the robot in world coordinates is established in combination with the depth camera,and then the traditional trajectory planning is compared with the programmed trajectory planning and obstacle avoidance algorithm.The obstacle avoidance algorithm has a good solution ability in a complex environment.