Research On Trajectory Planning And Tracking Control Of Dross Removal Robot

Responding to the national smart manufacturing 2025 strategy,the met allurgical industry actively accelerates the deep integration of smart manufacturing and traditional manufacturing.All production lines have undergone intelligent equipment transformation and upgrading,striving to build an unmanned,green,and intelligent demonstration production line.Among them,the dross removal robot in the continuous hot-dip galvanizing line replaces the heavy and repetitive manual dross removal operation under severe working conditions.According to the actual production process of the production line,the dross removal robot is required to operate continuously,smoothly and efficiently,and to perform dross removal operations according to the accurate tracking and planned trajectory.Therefore,research on trajectory planning,time optimization and tracking control of the dross removal robot is delivered in this paper.The research mainly includes the following three aspects:(1)In view of the special dross removal operating conditions,a dross removal bucket matched with the ABB dross removal industrial robot is designed.A thermal radiation insulation board is also designed considering the structural characteristics of the robot.Besides,the coordinate system of the robot and the surrounding environment is calibrated and the robot matrix transformation equation is established.Then,a standard D-H parameter table is constructed according to the structural parameters of each link structure of the dross removal robot to establish a simulation model of the dross removal robot in Matlab software.Finally,the kinematic equation analysis and calculation of the dross removal robot are performed,and the simulation verification using the correlative functions in the Matlab robot toolbox is carried out.(2)In order to avoid the disturbance of the zinc liquid level caused by the dross removal operation,considering the simple and fast calculation process of the polynomial function algorithm and its convenience to determine the boundary state of the walking trajectory,etc.,here the research adopts 3-5-3 low-order polynomial "splicing" method for joint space trajectory planning design of the dross removal robot.The simulation in Matlab software shows that the algorithm realizes continuous and stable position,speed and acceleration of the dross removal trajectory of the robot,which can meet the technological requirements of the production line to strictly control the stability of the zinc liquid level.In addition,in order to shorten the space movement time of the robot joint in the dross removal operation,the working efficiency of the robot is improved.Here taking the limit value of the motion parameter of each joint of the robot as a constraint,trajectory optimization is carried out aiming to keep a shortest dross removal operation running time.The simulation results show that the trajectory planning time of the robot dross removal process can meet the expected optimization.(3)When the dross removal robot cleans the consolidated zinc dross on the edge of the zinc pot,the dross removal tool is easy to rub against the pot edge,which affects the efficiency of the robot's dross removal operation.Therefore,a sliding mode trajectory tracking controller based on fuzzy variable parameters adaptive is designed,and the application of fuzzy control algorithm in the parameter adaptive adjustment of sliding mode controller is studied.The control gain is compensated by designing fuzzy rules and defuzzification,so as to achieve the purpose of parameter adaptation system disturbance and error change.Simulation shows that this algorithm can improve the trajectory tracking control accuracy of the dross removal robot to clean consolidated zinc dross along the edge of the zinc pot and stabilize the normal production of the continuous hot-dip galvanizing line.