Research And Application Of Robot Plasma Cutting Tracking Algorithm

With the wide use of industrial robots in the field of production,the precision of the robot in the plasma cutting process needs to be improved urgently.Because of the continuous change of the manipulator's trajectory,it is difficult to control the trajectory and the accuracy of the trajectory.Based on this situation,the trajectory tracking control algorithm of robot plasma cutting is studied in this paper,so as to improve the stability,security and accuracy of the trajectory of industrial robot when it is working.In order to realize the analysis and design of trajectory tracking control algorithm,this paper deduces the motion characteristics of the robot arm,builds the robot model,and carries out the kinematics analysis of the cutting trajectory.The interpolation method of quintic polynomial is used to solve the problem of trajectory planning in the cutting process.Compared with other planning methods,the interpolation method of quintic polynomial reduces the fluctuation of trajectory curve and ensures the stability of robot running.In order to solve the uncertainty of traditional control algorithms such as PID which rely too much on dynamic model,intelligent control algorithm is applied in this paper.By analyzing the characteristics of robot structure,the controller of cutting trajectory is designed by optimizing the parameters in RBF neural network and its own nonlinear approximation capability,so as to fully approximate the very complex nonlinear function.In order to solve the control problem,this paper studies the realization of controlling the multi-parameter information in the trajectory to reduce the dependence on the mathematical model.The characteristics of robot kinematics are analyzed to avoid the manipulator falling into singularity due to the mechanical structure during the planning process.The applicability of neural network to robot control is analyzed and studied,and the controller is designed.The hidden layer is optimized by particle swarm optimization algorithm.The robustness of the algorithm and the stability of the controller are demonstrated,and the control accuracy is improved.In order to solve the interference problems such as external influence or jitter,this paper adopts adaptive fast variable structure control based on the characteristics of each axis pose and plasma cutting of robot joints.The design adjusts the approach law according to the change of real-time error in the trajectory and reduces jitter to achieve the goal of stable and accurate control.Matlab simulation results show that the trajectory control algorithm designed in this paper has good real-time tracking performance,and can ensure the accuracy of plasma cutting trajectory in the presence of complex external interference.