Research On Motion Control Of Industrial Robot Based On PMAC

Industrial robots have gone deep into the manufacturing industry to help liberate the labor force.With the development of computer and control system,the industry of industrial robot develops rapidly,especially the control of robot and the overall system composition.There are two main problems in the research of industrial robots:(1)The dimensional parameters of the robot and the structure of the connecting rod vary greatly from model to model,and need to be targeted for modeling.(2)The algorithms that control the motion process are different.What is the simulation effect achieved by different algorithms,and what are the actual test results on the computer,are the problems to be solved urgently.Firstly,the model of Han series 6-DOF Industrial robot is established by D-H modeling method.The forward kinematics equation is derived by multiplying the a matrix of each manipulator,and the manipulator is decoupled.The six joint angles of the manipulator are solved by inverse position kinematics and inverse attitude kinematics respectively,and the inverse solution optimization scheme is proposed.Finally,the Jacobian matrix of the manipulator is derived for the future Path planning and dynamics lay the foundation.Several typical path planning methods are selected,and their advantages and disadvantages are compared.The results prove that the artificial potential field method is more difficult to establish the potential field in the pose space,and can only be calculated for a few control points,and finally reflects to each joint axis.This method is feasible in simple scenarios.In the application scenarios of complex or highdimensional space,the PRM algorithm and RRT algorithm do not need to solve the composition of the pose space,and only by detecting the collision of randomly spilled sampling points can we judge whether the path is successful.Explore a variety of trajectory plans in the joint space,analyze the impact of each trajectory plan on the operation of the robot in terms of displacement,velocity,acceleration and other parameters at different time periods,and all are based on the Matlab platform for simulation.In Cartesian space,two trajectory planning methods of linear interpolation and circular interpolation were studied.Finally,it was found that seven-segment S trajectory planning can make the speed curve smooth,the acceleration continuous,and the motor running stably.Realize robot motion control,the overall hardware solution of PMAC,PMAC motion control card main functions and supporting software platform and its components.During the test on the machine,adjust the PID parameters,find the cause of the inappropriate parameter adjustment curve,and give solutions,and finally get the PID adjustment parameters with good results,and finally a variety of trajectory planning and measurement were performed on the robot arm using the written motion program.The innovations of this article are as follows: 1.Based on the Han series of industrial robots,analyze and determine their D-H parameters,establish the corresponding abstract model,and derive the forward kinematics and inverse kinematics equations based on the robot arm model,which is verified by Matlab to be the correct equations.2.In the same scenario,comparing the effects of the artificial potential field method,the RRT algorithm and the PRM algorithm in path planning,it is concluded that the PRM algorithm and the RRT algorithm are more suitable for multi-dimensional complex spaces.3.Under the condition of actually running the same path on the basis of the Han series of industrial robots,the actual effects of trajectory planning such as polynomial trajectories,trapezoidal trajectories,five-segment S trajectories,and seven-segment S trajectories are compared.The conclusion is that the change is the smoothest and the acceleration is continuous.