Study On Synergetic Technology Of Robot And Automatic Resistance Regulator

With the increasing demand for production equipment and the promotion and promotion of the “Made in China 2025” strategy,it is an inevitable choice to use robots and other equipment to replace individual robots to complete complex tasks.Under the background of the “Industrial Key Technology Testing and Verification Platform Construction and Application Promotion” of the Key Project of Industrial Transformation and Upgrading of the Ministry of Industry and Information Technology in 2016,this project has carried out research on the collaborative operation of robots and automatic resistance regulator.Have specific practical and practical needs.This thesis analyzes the coordinated motion of the robot and automatic resistance regulator from the following aspects:1.Aiming at the cooperative control problem between robot and automatic resistance control machine,this paper designs a hierarchical and hierarchical three-level architecture robot and automated resistance control machine cooperative control system based on the principle of distributed control.The system includes an upper layer,middle and lower layers.Among them,the upper layer is the computer control work level,the middle layer is the control coordination level,and the lower layer is the ontology execution level.2.Based on the cooperative control of the robot and the automatic resistance control machine based on the distributed control system,the collaborative motion method between the robot and the automatic resistance control machine is studied and analyzed.Combined with the characteristics of the coupled motion,a robot and automatic resistance control machine are designed.The master-slave cooperative motion method,based on the idea of motion stability,uses a parabolic interpolation algorithm to optimize the joint angle of the robot,and then obtains the joint motion curve.3.Study the master-slave cooperative motion of the robot and the automatic resistance control machine.According to the master-slave cooperative motion constraint relationship,the relative position and attitude of the robot end effector and the automatic resistance regulator remain unchanged during the coordinated motion process,that is,the robot motion track Once determined,the motion path of the automatic resistance regulator can be obtained uniquely.Through the simulation analysis of the coordinated motion of the robot and the automatic resistance control machine,the research on the master-slave cooperative motion and the motion trajectory optimization are completed.4.Based on the research of the master-slave cooperative motion of the robot and the automatic resistance regulator and the research of the motion trajectory optimization,with the four-axis DAYE robot and the automatic resistance control equipment of the laboratory,through the programming and control of the upper control computer,The master-slave cooperative coupling experiment of the four-axis DAYE robot and the automatic resistance regulator is realized,which verifies the feasibility of the relevant conclusions of this thesis.