Research Of Writing Control Algorithm Based On Six Degrees Of Freedom Robot

Writing by six-degree-of-freedom robot is a very important part of robot application,and the control algorithm of six-degree-of-freedom robot is a critical part of completing the writing task.When the design of the six-degree-of-freedom robot's writing control algorithm is unsuited,it affects the writing accuracy.Therefore,the paper introduces advanced writing control algorithm to improve the writing accuracy and the writing effect of the six-degree-of-freedom robot.The main contents are as follows:Firstly,an improved inverse kinematics algorithm is studied for the complex computational problems of traditional inverse kinematics algorithms.The traditional inverse kinematics algorithm uses algebraic method to separate the unknown variables in the transformation matrix to solve the angle value associated with the direction.While the improved inverse kinematics algorithm uses the direction angle represented by the combination of roll,pitch and yaw to solve other joint angle value.It can reduce the complexity of the transformation matrix calculation and avoid the errors in the calculation of the transformation matrix.The simulation results show that the improved inverse kinematics algorithm has smaller error and higher reliability than the traditional inverse kinematics algorithm.Secondly,the traditional joint control algorithm has long response time and large error when using small scale factor.A nonlinear integral separation PID control algorithm for position feedforward compensation is studied.The algorithm adds nonlinear integral separation PID control part and feedforward part,which reduces the control error.It is compared with the control result of traditional joint control algorithm through simulation and experiment.The results show that the improved joint control algorithm achieves the goal of improving control accuracy and reducing adjustment time.Finally,the improved inverse kinematics algorithm and the improved joint control algorithm are experimentally verified on the control platform of Densorobot.The results are compared between improved algorithm and the traditional algorithm and the results show that the improved control algorithm has higher control precision and better writing effect.