Research On Trajectory Tracking And Remote Control Of Industrial Robot

Industrial robots can replace humans in the industrial environment and complete monotonous,heavy,and repetitive long-term operations,effectively reducing human labor intensity,improving production efficiency,and reducing production costs.With the rapid development of modern industry,a higher level of product quality is required.Thus,the requirements on the trajectory tracking technology of industrial robots become higher and higher.On the other hand,in some harsh and complex environments where humans cannot reach,such as nuclear energy technology,and industrial welding,the remote control system of industrial robots can effectively avoid harm to the human body and safely complete special environmental operations.Therefore,it is of great value to study the trajectory tracking and remote control system of industrial robots.The main contents of this thesis are as follows:(1)For industrial robots performing repetitive motion,a variable gain adaptive iterative learning control algorithm is proposed to ensure the position and velocity tracking accuracy of the robot.Firstly,exponential variable gain is added to the PD feedback part to speed up the convergence speed of the algorithm.Then,a generalized error function is designed in the parameter adaptive part to further reduce the trajectory tracking error and enhance the stability of the system.The convergence of the variable gain adaptive iterative learning control algorithm is proved theoretically by Lyapunov function.Simulations are performed to verify that the control algorithm can effectively reduce the trajectory tracking error of the robot and accelerate the convergence speed of the algorithm.(2)The remote control of industrial robots is studied and a remote control system based on ABB industrial robots is designed.The operator interface is designed on the local host computer to realize local and remote program variable synchronization.The local host computer communicates with the ABB robot control cabinet through TCP / IP protocol.The remote robot is controlled and managed directly through Ethernet.In the simulations and experiments,the effectiveness of the system is verified by analyzing the tracking effect of the robot on the given trajectory of the host computer.(3)For the differences in the work-space of the master-slave robot in industrial robot teleoperation system,the accuracy and safety issues of motion control,a work-space mapping algorithm and position-velocity hybrid control strategy is proposed.Firstly,the teleoperation is divided into two phases-free movement and interaction.In the free movement,a mapping algorithm is used to cover the work-space of the master and slave robots to maximize the movement range of the master robot.Further,in the interaction,a hybrid position-velocity control strategy is designed to accurately control the motion of the industrial robot so that the actual position trajectory of the slave robot can accurately follow that of the master robot.Moreover,a feedback guidance force is introduced to achieve safe control.The proposed control strategy is verified on Touch-ABB IRB120 master-slave teleoperation experiment platform.The experimental results show that the proposed strategy enables the motion range of the master and the slave to be highly covered while ensuring the accuracy of the teleoperation control.