Research On Dobot Manipulator Trajectory Tracking Control Algorithm

After Germany introduced Industry 4.0,the world's manufacturing powers have proposed a new vision for machinery manufacturing in the ther country.In 2015,China proposed "Made in China 2025",which emphasizes the combination of intelligence and publicity in order to lead and promote the development of the machinery manufacturing industry.In order to realize this concept,the development and application of the mechanical arm has become the focus of China's machinery manufacturing towards high-end and intellectualization.Although domestic industrial robot technology has basically met the requirements of industrial development,there are still many areas for improvement:the control accuracy,response time,system robustness,service life and maintenance cycle of the robot arm are urgently needed to be solved.In this paper,the Dobot manipulator is used as the research object,and the kinematics modeling,dynamic analysis and tracking control algorithm of the manipulator are studied and verified by simulation and experiment.The specific research contents are as follows:First,a kinematic analysis of the Dobot manipulator was performed.The robot coordinate system and its transformation are studied.The kinematics model of the manipulator is established based on the D-H parameter.The analytic formula of the forward and inverse kinematics of the manipulator is obtained by the homogeneous transformation matrix.The correctness of the kinematic model was verified using the robot toolbox in MATLAB based on the D-H link parameters of the Dobot arm.Secondly,the dynamic analysis of the Dobot robot arm was carried out.The dynamic model of the manipulator is established by the Lagrangian method,and the equation of the moment matrix is obtained.The SolidWorks model of the manipulator is imported into ADAMS for dynamic simulation,and the curves of velocity,acceleration and moment of the joint motion of the manipulator are obtained,and the curve is analyzed and studied.Then,the Dobot robot arm tracking control algorithm is studied.In the LabVIEW software,the simulation model is built.The traditional PID and fuzzy PID control algorithms are used to realize the trajectory tracking control of-the Dobot manipulator.The simulation results are compared and analyzed.The results show that the fuzzy PID algorithm has good tracking accuracy and dynamic features.Finally,an experimental study was performed on the Dobot robot arm.The experimental platform was built using LabVIEW software with fuzzy PID control algorithm combined with Dobot robot arm.With the help of the Arduino underlying environment,the further development of the Dobot robot controller was carried out.The effect of the control algorithm on the writing and painting of the robot amn was studied through comparative experiments.The experiment verifies that the intelligent control algorithm is of great significance to the improvcinent of the manipulator's running performance,and also provides theoretical and experimental basis for the design improvement of the manipulator.In this paper,the Dobot robot arm tracking control algorithm is studied,which solves the problem of lost motion and error accumulation in robot arm control,which provides a fast and effective method for robot motion control analysis.It also provides reference and solution for intelligent control in other fields.