Research On Control Strategy Of Ultrasonic Cutting Robot

With the development of automation technology,robots are becoming more and more widely employment in the industrial field.Nowadays,industrial robots are installed on industrial production lines to complete the assignments to assembly lines.To ensure complete its tasks perfectly,it also needs the robot to adjust itself according to different working conditions,so the research of robot control strategy is indispensable,only to develop a good control strategy and improve the efficiency and precision of industrial robot,industrial robots can play a more important role in complex industrial manufacturing.Ultrasonic cutting has widely application prospects in the field of metal material cutting due to its small processing stress and less pollution.In order to improve the processing efficiency and intelligence of ultrasonic cutting,it is an effective method to combine ultrasonic cutting technology with industrial robot technology.This topic is focused on the industrial robot which is used for ultrasonic cutting as the research object.Then conduct depth research on its trajectory planning and trajectory tracking control.The main research contents of this subject are as follows:Firstly,the DH parameter method is used to establish the theoretical model for ultrasonic cutting robot.The mathematical model and inverse kinematics is verified by MATLAB software.At the same time,the robot dynamics is verified by ADAMS,and the force and moment curves of the ultrasonic cutting robot are obtained,which lay the foundation for the trajectory planning.Subsequent trajectory planning mainly discuss several trajectory planning methods,and select the most suitable trajectory planning method to plan a target trajectory,which lay a foundation for the effectiveness of subsequent verification controller.Finally,a single joint controller is designed.By constructing Simulink model of two different controllers and verifying the simulation,a controller with fewer error of track is selected as the single joint controller.A PID and fuzzy adaptive PID joint controller is obtained,which can effectively reduce the trajectory tracking error and provide a feasible solution to trajectory tracking down ultrasonic cutting industrial robot.