Design And Application Of Multi-joint Robot Control System

Compared with the shortcomings of traditional industrial robots,such as large volume and low degree of automation,multi-joint robots have the advantages of high degree of automation,high flexibility,and high degree of freedom,which can effectively improve the production efficiency and product qualification rate of enterprises,and greatly reduce enterprises.Cost plays a decisive role in the optimization and upgrading of enterprises.However,there are many problems in the control system of the multi-joint robot,such as: the control accuracy is not up to standard,the control system is too complicated,and the system is less versatile,which hinders the further development of the multi-joint robot.In addition,the robot control system integrates many disciplines such as mathematics,kinematics,and control algorithms.It is extremely comprehensive,making the development of multi-joint robot control systems always a hotspot at home and abroad.To this end,this article studies the control system of multi-joint robots.The main research contents include:design of simulation multi-joint robot control system,design of solid multi-joint robot control system,fixed-point loop application experiment,control system test,etc.The main work of the paper is as follows:Firstly,establish a multi-joint robot model;use the D-H coordinate method to perform kinematics analysis of the multi-joint robot,model the robot's kinematics,and solve the forward and inverse kinematics of the robot;analyze the robot's motion space.Secondly,build a robot development platform based on the ROS(RobotOperating System)system.Combine the tf library to build a three-dimensional space coordinate model of a multi-joint robot;call Moveit! Software package for comprehensive configuration of multi-joint robot models;in the rviz visual interface,the multi-joint robot visual interface is constructed.The path planning algorithm for multi-joint robot motion was selected and optimized.The connected fast expanding random tree algorithm was used,and the path planning efficiency comparison simulations under different algorithms were performed.The simulation results proved that the connected fast expanding random tree algorithm had better High computational efficiency and accuracy;simulation experiments and repetitive motion experiments of motion control prove that the simulation system has high robustness and accuracy.Thirdly,the design of a solid multi-joint robot control system is carried out.Through the CAN bus communication method,the IP address communication of ROS is skipped,simplifying the communication steps,and the ID number and motion parameters of each joint are sent to each joint of the physical robot through the CAN analyzer to realize the communication between the PC and the physical robot Data transmission.A robot feedback system is designed.Through the position loop control,the absolute position of each joint of the current robot is continuously read to determine whether the actual motion of each joint is consistent with the motion of the simulated robot.In the control of physical robots,distributed in-depth control is used to realize the control from single-arm servo motor control to the overall robot motion control.So far,the preliminary development of the multi-joint robot control system has been completed.Finally,based on the preliminary completion of the above control system,a fixed-point cyclic motion application and control performance test was performed on the articulated robot body to detect actual application effects and optimize motion parameters.In robot applications,control performance tests and motion accuracy tests are performed simultaneously to ensure high-precision application results underfixed-point cyclic motion.Experimental results show that the control system can achieve high-precision control of multi-joint robots,and lay the foundation for the further development of multi-joint robot systems in the future.