Simulation Study Of PUMA Robot Trajectory Tracking Control Algorithm

With the rapid development of modern industry,people pay more and more attention to how to improve the efficiency of industrial production.The industrial robot has been synonymous with high efficiency and high quality production,which naturally put forward higher requirements on the control performance of industrial robots.But because of the industrial robot itself has strong nonlinear and high coupling characteristics,the industrial robot control there are a lot of problems,and the trajectory tracking control of robot is a difficult problem in many.The main purpose of trajectory tracking control is to track the desired trajectory of the robot by giving the driving torque of each joint,so that the position and velocity of the robot can track the desired trajectory.In this paper,the trajectory tracking control algorithm of industrial robot is studied from two aspects of the response speed and accuracy of industrial robot.Firstly,this paper introduces the domestic and international research on the trajectory tracking control of industrial robots.Then analyze the kinematics and dynamics of six-dof robot,and then the equations are simplified and numerical simulation,through the derivation of Lagrange method to establish the dynamic equation of the robot and analysis of kinetic equations.Secondly,the advantages and disadvantages of the conventional trajectory tracking control algorithm are analyzed,and two new algorithms are proposed,which are fast variable structure algorithm and fuzzy variable structure algorithm.The former is to improve the control effect by the reaching law of variable structure control.The latter makes use of the characteristic of variable structure control to compensate for the parameter uncertainty and external disturbance.On the basis of this,the fuzzy rules are used to adjust the parameters of the reaching law in order to weaken the chattering phenomenon caused by variable structure control.Then,using solidworks to establish the virtual prototype model of industrial robots,and then imported to the adams by adding constraints and drive,the virtual prototype model ofmodular,make it into a simulink module,so as to realize the joint simulation of matlab and adams,then build the simulation model of industrial robot control algorithm in matlab.Finally,the PUMA robot is taken as the control object,and the corresponding trajectory tracking algorithm program is designed.The feasibility of the two algorithms is verified by the joint simulation experiment.