| As a significant component of advanced manufacturing field and industrial automation, Industrial robot, the electromechanical integration equipment with highly automated plays an important role in social development. Control system is essential to an industrial robot, has far-reaching meaning on the popularization of the research development and application of the theory of industrial robot. So the research and design of control system directly affect the efficiency, control precision and openness of the industrial robot, In this paper, according to control algorithm and openness of the system, a wide open control system is designed in consideration of the6R industrial robot. Main research of this dissertation is as follow:(1) The first step is studying on the forward and inverse kinematics of the industrial robot. At first, establish kinematics model of the robot by D-H method, then find out the solution of the kinematics. Finally, verify the solution upon MATLAB Robotics Toolbox in order to provide reference of the design of control system.(2) The second step is putting Fuzzy-PID control algorithm to use in servo system. First of all, appropriate servo motor and servo drive is selected on the basis of system requirements. Then, the Fuzzy-PID control algorithm proves high qualified.(3) The third step is the design of the industrial robot’s hardware system. First of all, the requirement of hardware system and software system is analyzed as well as the control task is assigned. Then chose control mode of industrial PC combined with motion control card and identify their type. At last, circuitry of servo system is designed.(4) The fourth step is the design of the industrial robot’s software system and experiment. On the basis of the structure of software system, motion control mould is described in detail. Fuzzy-PID control algorithm is achieved in motion control card. Finally, the experiment indicates the control system has a good effect. |
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