Research On High-precision Motion Control Technology Of Robot Based On Moment Feedforward

Domestic industrial robots are developing rapidly,and their proportion in production is increasing year by year.High-performance robots are the key factor to guarantee the processing efficiency and accuracy.When the robot moves at high speed,the motion inertia changes greatly,and the nonlinear effect is significant.The traditional robot control strategy uses the internal PID adjustment technology of the servo drive.This control strategy works well at low speed and low load,but during the high-speed movement of the joint,the control accuracy of the robot cannot be guaranteed.This paper studies the motion control of a sixjoint robot,and combines the robot dynamics to design a feedforward control scheme for the robot,which aims to improve the robot motion control accuracy.This paper analyzes and studies the kinematics and dynamics theory of the six-joint robot,and uses the Lagrange method to establish the dynamic model of the six-joint robot.Friction is an important factor that affects the accuracy of the control system.To improve the accuracy of the model,the structure of the robot joint reducer and the source of friction are analyzed.For the specific Huashu six-joint robot,design experiments to obtain the friction torque of each joint at different speeds,select a appropriate friction model according to the actual friction of the joint,and solve the friction model parameters through genetic algorithm to compensate for the joint friction.The calculated load torque of each joint is added to the servo drive to improve the accuracy of joint trajectory control.In order to further improve the robot control performance and the quality of the closedloop control system,the real-time position and speed information of the robot joints are obtained in real time during the robot motion,and the feedback signal is further processed by PD control to compensate the errors of the dynamic model and the joint friction model.Conduct research on IMICNC control system,establish a torque feed-forward module and add a torque feed-forward algorithm to achieve real-time compensation of the robot joint torque.Based on the above,we completed the experiment tracking feedback control algorithm design moment ago,motion control experimental platform to build,expand space trajectory.The experimental results show that the torque feedforward control scheme designed in this paper can effectively improve the tracking accuracy of the robot end trajectory,reduce the joint jitter error,and improve the robot motion control performance.