Research On The Key Issues During The Trajectory Tracking Of The Operable Robotic Manipulator

Robot,as the highest integrated application of mechatronic technology,is an important symbol to measure the level of automation in a country.Generally speaking,operable robot is a robot that can be programmed repeatedly and controlled automatically,and can be applied to the relevant automation system,which is a typical representative of the high level of technology and content in industrial robots,which is of great research value and significance.In view of this,this paper takes the operable welding robot as the research object,analyzes the key problems in the trajectory tracking process,and the research work are conducted on the related problems.General speaking,the main research in this article were as follows:(1)In view of the uncertainty factors in the trajectory tracking,the intelligent robust controller is designed to improve the dynamic characteristics of the operable robot with the uncertainty of parameter,environmental and load change.The experiment shows that the performance of the trajectory tracking process is improved,and the quality of the force and trajectory process is enhanced.(2)Considering the flexible characteristics of key components and connecting rods in the trajectory tracking process,the dynamic equations of the operable robot's rigid soft coupling are optimized,the dynamic equations of the new rigid soft coupling are established,and the anti-flexible controller is designed.In the whole research process,continuous observation and continuous control are realized,and the accuracy of trajectory tracking is improved effectively,which provides a good basis for the next collision detection process and flexible vibration suppression research.(3)The collision detection and collision avoidance planning of operable robots are the key problems for the operable robots to realize human-computer interaction.This paper mainly considers the active collision mode,with the contact mode and the contact position of different circumstances,and the use of the impedance controller and bandpass filter were combined way to achieve effective collision detection and collision avoidance planning.The switch between the PID controller and collision detection controller was realized,which effectively avoided the impact of collision problems during the robot trajectory tracking process.(4)In the process of motion planning,flexible vibration suppression has always been a deep-seated problem in the trajectory tracking of operable robots.Through the Fourier series as the trajectory base function,the analysis of the actual motor trajectory of the robot in the time domain and frequency domain and the effect of the characteristics of the joint vibration,will finally take into account the influence factors in the trajectory planning.The flexible deformation of the joint is also analyzed and studied effectively,which effectively reduces the vibration phenomenon and improves the trajectory tracking accuracy and dynamic quality.In summary,this paper mainly studies the intelligent robust controller in the robotic trajectory tracking process,the anti-flexible controller in the rigidly coupled state,the collision detection and collision avoidance planning in human-robotic environment,and the vibration suppression problem with the flexible joint.Finally,through experimental research results,the precision improvement and dynamic quality of the operable robot trajectory tracking process are realized and analyzed.