Research On Terminal Trajectory Accurate Tracking Control Of Stacking Robot

As one of the most critical stacking equipment in the wooden door manufacturing industry,the working performance of wooden door stacking robot directly affects the manufacturing efficiency and automation of wooden door.The customization and diversification of wooden door products put forward higher requirements for the end positioning accuracy of wooden door stacking robot,and the accurate tracking of end trajectory can effectively improve the positioning accuracy and avoid damage during handling and stacking.Based on this,on the basis of simplifying the high-speed and heavy-duty stacking robot,this thesis uses the method of theoretical simulation and experimental verification to carry out the research on the end trajectory tracking control of the wooden door stacking robot,in order to realize the high-precision control of the end trajectory of the wooden door stacking robot.According to the structure and size characteristics of high-speed and heavy-duty robot,the test platform of stacking robot is designed and built;Using the improved DH parameter method,the kinematics model of the stacking robot test platform is established,and the relationship between the end position of the stacking robot test platform and the joint variables is obtained;The inverse kinematics is analyzed by algebraic solution method,and the accuracy and reliability of the inverse solution are verified by spiral trajectory;Based on Lagrange method,the dynamics of stacking robot test platform is studied.The research results lay a foundation for the end trajectory tracking control of the stacking robot test platform.In order to eliminate the joint friction in the stacking robot test platform,Lu Gre friction model is introduced,and the static and dynamic parameters of Lu Gre friction model are identified by genetic algorithm and two-step dynamic response method;Based on the feedforward compensation strategy of Lu Gre friction model,a friction state observer is designed to estimate the joint friction online.The results show that it can effectively reduce the interference of joint friction on the tracking trajectory control performance of the stacking robot test platform,and ensure the joint trajectory tracking control performance.In order to realize the accurate trajectory tracking of the stacking robot test platform,an adaptive double fuzzy backstepping sliding mode controller for the trajectory tracking of the stacking robot test platform is proposed by using fuzzy approximation to estimate the model information and fuzzifying the switching term;Combined with Lu Gre friction model compensation feedforward control strategy and adaptive double fuzzy backstepping sliding mode controller,the end trajectory tracking control of stacking robot is studied.The results show that the end trajectory under the control of adaptive double fuzzy backstepping sliding mode controller can track the end desired trajectory well.The mean error between the relative position points of the spatial trajectory is less than 2.47 mm,of which the maximum error is 11.58 mm,which meets the target requirements set by the test.There are 51 pictures,10 tables,and 92 references in the thesis.