Research On Energy-effective Smooth Operation Control Of Industrial Robot Equipment

Industrial robots are widely used in manufacturing industries such as assembly,painting,welding and other processes.The energy consumption of industrial robots accounts for 8% of the total electric energy consumed in the manufacturing process.This not only increases the production cost of the product,but the consumption also accelerates global warming at the same time.At the same time,when using the industrial robots,in order to achieve good dynamic performance,it is crucial to plan the optimal robot trajectory related to parameters such as jerk,which can prevent the industrial robot from sinking into mechanical resonance.Therefore,improving the manufacturing efficiency of industrial robot equipment and planning the trajectory impact is of utmost importance.At present,there are a large number of studies on reducing the energy consumption of industrial robots.When planning robot trajectories to improve energy efficiency,there are often large and discontinuous shocks that can abrade the robot structure and reduce its service life.In order to solve this kind of problem,this paper focuses on the smooth running control of industrial robots,and improves the energy efficiency of industrial robots on the basis of ensuring the smooth operation of industrial robots,so as to achieve the goal of stable and stable operation of industrial robots with energy saving and consumption reduction.The main research content is as follows:(1)Energy-efficient industrial robot equipment smooth running control modeling.According to the working principle and physical structure of the industrial robot,the energy consumption of the industrial robot system is decomposed,and the energy consumption characteristics of the robot body are analyzed in detail based on the physical formulae,and the energy consumption model of the industrial robot is established;at the same time,the smooth running characteristics of the industrial robot are equipped.The impact model to measure the smoothness characteristics is analyzed and established.Finally,combine the energy consumption model and impact model of industrial robots,an energy efficient industrial robot equipment smooth running control model is proposed,and achieve the optimal control of industrial robots.(2)Energy-efficient industrial robots are equipped with smooth running path control optimization.Based on the established operational control model,additional robot kinematics,and dynamics constraints are imposed on the trajectory planning of the joint space of industrial robot equipment.An improved bee algorithm is proposed,and energy consumption and smoothness objectives are optimized and enabled to ensure the consumption and joint impact are minimal,and the optimized parameters are fed back to the control model to achieve smooth and energy-efficient control of the industrial robot.Through simulation experiments,the trajectory parameters before and after optimization are simulated and verified,and the effectiveness of the optimization method in the optimization of multi-objective optimization of energy consumption and impact of industrial robots is analyzed.(3)Implementation of operation control based on the IRB1200 industrial robot platform.Taking the actual ABB company IRB1200 industrial robot as the experimental object,constructing an experimental platform,on this basis,the energy efficient smooth operation control of the IRB1200 industrial robot is achieved,and the joint impact data and energy consumption data before and after comparison are optimized,and the industrial analysis is performed.Robot energy optimization and smoothness optimization results verify the effectiveness of the control method.