The Designing Of Delta Parallel Robot Control System

Robot technology and its corresponding application development will be likely to grow faster.And more precise control precision, more nimble control strategies, and stronger ability of information updating will become true in the future.Due to the huge potential market and social demand, the design of the mechanical system, performance and technology has entered a new era of industry and time based on professional applied social and personal services.Competition and challenges, faced with the transformation of pressing robots never backward in study field, on the contrary, by keeping the great momentum, it will quickly create a better solution, and through the innovation to realize the rapid development of robot technology.At first, this paper systematically expounds and analysis was carried out on the robot, based on robot kinematics, the inverse solution is complete, and the use of Lagrange function of robot dynamics mathematical model of the structure, so as to provide theoretical basis for the simulation and experiment process.At the same time, the ROBOTIC through MATLAB TOOLBOX tools on robot cartesian coordinate space dynamic model simulation, record and analyze the response curve and each joint trajectory of robot arm.Then the control system design and simulation.Adopted by the method of model reference adaptive control, and under the condition of keep adaptive control to design an adaptive robust control system, and based on MATLAB/SIMULINK platform to build the model reference adaptive control and adaptive control system model of robust control, through the control system, the simulation analysis of the quantities of each joint dynamic corresponding curve, thereby to calculate adaptive robust control system compared with the existing simple adaptive control system, the control of nonlinear uncertainty of robot system.In order to verify the adaptive robust control system for robot control effect in the process of actual operation, this paper built a set of motion control platform for experiment.Experimental platform is mainly divided into three parts of control systems, actuators and sensors in this paper, in the fourth chapter of the motion control platform in detail, and the whole of the results obtained from the experimental process were analyzed.Finally, the article will compile the adaptive robust control system designed for with PMAC encapsulation statements, and import with PMAC, and applied to a three degrees of freedom mechanical hand, through the study of the teaching of mechanical operation, and the parameters of the joints related variables sampling, analysis of the dynamic corresponding curve, finally analyze the results, which proves that the adaptive robust control can achieve ideal control effect.