Research On Motion Control Method Of Rectangular Coordinate Manipulator

Manipulator plays a more and more important role in the field of industrial automation.At present,the most widely used manipulator in industry is rectangular coordinate multi axis manipulator with simple structure.However,the automation level of this kind of manipulator is not high and the popularity of remote monitoring is low.This paper studies and analyzes the motion control methods of rectangular coordinate manipulator,which is typical The design experiment of the gantry structure multi axis manipulator is carried out.Starting from the construction and application scenario of the robot,this paper introduces the structural features and dimensions of the manipulator in detail,and gives the selection of key equipment for each part of the manipulator.Then,based on the assumption that each joint of the manipulator can be controlled independently,the kinematics and dynamics model of the manipulator is modeled.The errors and interferences that may occur in the process of model abstraction and data acquisition are processed by Kalman filter and system identification to reduce the noise Sound,improve control accuracy.Finally,combining with the adaptive control theory,this paper designs the motion control system of the manipulator,and simulates the Kalman filter,identifier,adaptive regulator and so on.In addition,the SCADA system of manipulator is designed based on web development technology,which connects the equipment with database and cloud platform,realizes the close combination of configuration interface,data exchange and control algorithm,and provides a good human-computer interaction experience for the remote monitoring and control of manipulator.In this paper,compared with the conventional control method,the adaptive control method has better convergence for the nonlinear time-varying motion control system including the influence of friction,in which the Kalman filter is used to effectively reduce the serious noise interference caused by the quadratic difference process,and the system identification has better estimation effect on the nonlinear time-varying factors such as friction force,greatly improving the precision of the manipulator motion control Degree.Compared with the traditional configuration software,the robot control software developed based on Web technology is more intuitive in displaying data,which can reduce the understanding cost of operators,and reduce the probability of operation error greatly by controlling the logic interlock of buttons.