Research On Modeling And Control Of A Class Of Serial Articulated Robots

With the development of the manufacturing industry and the arrival of the information age,robots have been widely used in aerospace,military civilian,production and living,and industrial production.We have made tremendous changes in clothing,food,housing,and transportation.At the same time,serial articulated robots are playing an increasingly important role in industrial automation.Robotics has also been deeply studied by many experts and scholars in many related fields at home and abroad.The modeling and control of robots has become a key technology in the modern field.Establishing a model for each type of robot and designing a high-performance control system has important academic value and application value for the development of the robot field.According to the structural characteristics of a series of articulated robots(RBT-6T/S03S),the kinematics equations of RBT-6T/S03 S robots are established.The Jacobian matrix is deduced by an improved method and the differential kinematics of the robot is studied and analyzed.The robot dynamics model was established and the robot dynamics control was finally studied.Although each method has advantages and disadvantages,the adaptive control algorithm will tend to mature.This subject uses this method to control the robot dynamics model.The content of this paper is as follows:(1)The kinematics model was established based on the structural characteristics and parameters of the RBT-6T/S03 S robot.According to the D-H rule,the robot's Cartesian coordinate system is established,and the coordinate translation and rotation transformations are used to solve the matrix T,thereby establishing the robot's forward kinematics equation.The joint characteristics of RBT-6T/S03 S robot are analyzed,and the inverse kinematics model is established based on the joint characteristics and parameters of each joint.Design robot positive kinematics algorithm and inverse kinematics algorithm flow and verify.(2)The differential kinematics of the RBT-6T/S03 S robot is studied.The vector-differentiation method is used to solve the Jacobian matrix of the RBT-6T/S03 S robot.The Jacobian matrix was used to analyze the speed of the robot,mainly from the joint coordinate system to the tool coordinate system and from the tool coordinate system to the joint coordinate system.Finally,a calculator for calculating the Jacobian matrix of the RBT-6T/S03 S robot was designed using a development tool MFC.(3)Because of the complex mechanical structure of RBT-6T/S03 S robot,the analysis process of dynamic modeling and control algorithms is cumbersome.Therefore,the joints of RBT-6T/S03 S robot are limited and reduced to two-degree-of-freedom serial robots.The robot dynamics modeling and control system is studied.In the control system,the motor adopts PMSM,the controller controls the motor and the robot.The analysis of the dynamic modeling and control algorithm of the two-degree-of-freedom serial articulated robot will lay a solid foundation for the analysis of the dynamics and control algorithm of the RBT-6T/303 S robot.