Design Of Motion Controller For Industrial Robot Based On FPGA

Industrial robot technology is one of the important areas of current technological development.It is a high-tech that is interwoven with a variety of emerging technologies and mechanical technologies with microelectronics as the core.In order to improve the joint position control precision of industrial robots and solve the problem of poor realtime and reconfigurability of traditional motion controllers,a fuzzy PID motion controller based on FPGA is designed for an industrial robot with six degrees of freedom.In order to achieve optimization,the servo system uses position control,and the structure adopts a semi-closed loop position control structure.Many industrial claim require the use of a servo system to accurately track and position the target command position,so the servo system is referred to as a position servo system or a position control system in these applications.Starting from the positioning accuracy,the semi-closed loop position control structure has obvious advantages compared with the open loop control structure,making the semi-closed loop position control structure the most widely used structure in the current position servo system.This paper designs a control system for the AC position servo system of six-degreeof-freedom industrial robots from the research and hardware aspects of intelligent control algorithms.The main research content of this paper is to construct the kinematics model of industrial robots by D-H method.According to the requirements of the system,the appropriate AC servo motor and driver are selected,and the mathematical model of the servo system is obtained according to the dynamic performance between adjacent joints.The PID algorithm and fuzzy control are analyzed to introduce the fuzzy PID algorithm.The control algorithm has better control effect through Matlab simulation.In the FPGA chip,a modular design method is adopted to implement the fuzzy PID algorithm,and an offline lookup table is used,thereby saving on-chip resources and increasing the operation rate.Figure34,Table8,Reference 52...