| With the advancement of science and technology,robotics has become an important high-tech research field.As a branch of robots,industrial manipulators have been widely used in all walks of life,especially in the industrial field.Since the 1970 s,the related technologies of industrial robotic arms have developed rapidly.However,with the transformation of modern industrial production mode and the improvement of the market's requirements for the quality of industrial products,industrial robotic arms have more applications,replacing traditional processing methods to improve production efficiency.At the same time,modern production and processing have improved the accuracy of robotic arms.Performance requirements such as controllability and robustness are getting higher and higher,which provides new goals and requirements for the technological development of industrial manipulators and related theoretical research.This paper takes the six-axis industrial manipulator as the research object,and conducts related research on kinematics,dynamics and joint control strategies.The research work mainly includes the following three points:1.The improved D-H method is used to construct the connecting rod model of the robotic arm,and the transformation relationship between the coordinates of the connecting rod is obtained,and the forward kinematics equation is derived from this,and the inverse solution of the inverse motion is obtained by the analytical method.Based on the forward kinematics equations and inverse solutions,study the trajectory interpolation algorithm of the industrial robot arm in the assembly operation of passing two intermediate path points,and compare and analyze the three-three-five and three-four-four combination polynomial algorithms and their respective differences The combination form,the four-three-four type algorithm is the combination form with the smoothest trajectory and the smallest sudden change in speed and acceleration.Based on the boundary conditions of the intermediate path point,it is a general model of the trajectory interpolation algorithm that has been derived from multiple path points.It provides a solution for the assembly operation of the robot arm through the path point.2.Construct the dynamics equation of the robotic arm through the Lagrangian function.According to this equation and the parameters of the 3D model of the robotic arm in SOLIDWORKS,the theoretical joint torque curve is obtained through simulation i n MATLAB.Then the dynamic model of the mechanical arm is constructed and simulated in ADAMS,and the joint torque curve obtained by the simulation in ADMAS is compared with the joint torque curve obtained by theoretical solution in MATLAB,which proves that the dynamic equation derivation of the mechanical arm and the construction of the dynamic model are correct.3.Es Tab.lish the mechanical system model of the manipulator in ADAMS,export it to MATLAB to obtain the simulation analysis module under the SIMULINK environment,and es Tab.lish a simulation model for tracking the joint speed of the manipulator.Improved the nonlinear PID control algorithm,and combined the improved nonlinear PID algorithm with fuzzy theory,and proposed an improved nonlinear PID algorithm based on fuzzy kernel.Combined with the simulation model of the joint speed tracking of the manipulator,the simulation structure diagrams of the improved nonlinear PID control system,the fuzzy PID control system and the classic PID control system based on the fuzzy kernel are constructed respectively,and the three control systems are used in the joint speed tracking simulation.Speed performance.According to the analysis of the simulation results,the improved nonlinear PID algorithm based on the fuzzy kernel has good tracking control performance for the rotation speed of the manipulator joints,fast adjustment and good robustness,and is sui Tab.le for use in the high-performance control system of the manipulator. |
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