Research On Design And Application Of Multi-joint Robot Control System

Multi joint robot has been widely used in industrial production.With the development of national intelligent production,the robot has put forward higher requirements in many environments,such as human-computer interaction and multi robot cooperation.It not only requires the robot to have dynamic path planning,but also has the active obstacle avoidance and terminal force control and so on.The object of this paper is the installation of windows for high-speed rail cars.The robot also needs man-machine assistance and force control at the end.First,by analyzing the current situation of the robot control system at home and abroad and combining the structure of the control system of multi joint robot,the overall design scheme of the multi joint robot control system is proposed.The control algorithm,motion controller and servo drive system of multi joint robot are analyzed theoretically.Secondly,based on the theory of impedance control,this paper studies adaptive impedance control strategy.In order to improve the real-time and stability of the robot position and force tracking,a fuzzy adaptive impedance control algorithm for multi joint robot is proposed.The parameters of target impedance control system are dynamically adjusted by fuzzy control.Finally,the adaptive impedance control algorithm of multi joint robot and the simulation model of fuzzy adaptive impedance control algorithm are established in MATLAB/SIMULINK.The simulation results show that the fuzzy adaptive impedance control algorithm has good smoothness and stability,and can effectively adapt to the change of the environment.Finally,a test platform is established,and the design of the robot servo control system based on DSP and the realization of hardware and software are completed.The development of the hardware platform of the permanent magnet synchronous motor control system with TMS320F2812 as the core is completed.The system program is developed on the software development environment CCS6.0,and the test and analysis of the adaptive impedance control algorithm and fuzzy adaptive impedance control algorithm are carried out by establishing a test platform.The results show that the system is proposed.The fuzzy adaptive impedance control algorithm of multi joint robots has better force control effect.The control system designed in this paper can be used for reference for the application of robot in high speed railway car window installation engineering,and provides a theoretical basis for the development and design of robots under complex working conditions.