| With production costs continuing to rise rapidly,more and more traditional manufacturing companies are introducing industrial robots for upgrading.The widespread use of manipulator in the workpiece handling process not only improves production efficiency and quality,but also reduces costs and labour intensity,while safeguarding the safety of workers.As the core component of an industrial robot,the control system has been a hot topic in robotics research,with increasingly high performance requirements.At the same time,how to reduce the energy consumption of a robot during operation,while ensuring the completion of a given job,remains a current research hotspot.Taking the industrial six-axis robotic arm as the research object,an open handling robotic arm control system is designed and built to realize the control of the industrial robotic arm;secondly,with the goal of reducing the energy consumption required during the operation of the robotic arm,a research on the optimal trajectory of the robotic arm’s energy consumption is carried out.The main work is as follows:(1)Analysis and simulation study of the kinematics and dynamics of the manipulator.Firstly,a mathematical model of the kinematics of the manipulator is established,and the correctness of the model is verified by MATLAB simulation,and its workspace is solved.Secondly,the dynamics of the manipulator is modelled using the Lagrangian method,which lays the foundation for optimising the energy consumption of the manipulator.(2)A method based on the improved grey wolf algorithm is proposed to solve the optimal trajectory of the energy consumption of the robotic arm in the process of its movement.By adjusting the convergence factor of the grey wolf optimisation algorithm,the global search capability is improved to avoid falling into the local optimum.On the premise of satisfying the constraints of each joint of the manipulator,the improved grey wolf algorithm is used to optimise the trajectory of the manipulator with the objective of optimal energy consumption.Experiments show that the improved grey wolf algorithm outperforms the traditional grey wolf algorithm and particle swarm algorithm in reducing the energy consumption of the manipulator,and can achieve the optimal trajectory planning of the industrial manipulator in terms of energy consumption.(3)Design of the manipulator motion control system.The motion controller hardware solution is designed using a combined control architecture of "PC host computer + STM32controller".The STM32F429IGT6 chip is used as the main controller chip,and the motion controller power supply circuit,download and debug circuit,serial communication circuit and servo motor control unit are designed to complete the motion control system hardware circuit design.Keil software is used to write C language programs to develop software for the manipulator control system,completing the implementation of motor drive,communication module,data processing module and other functions.Using Qt to develop the upper computer control software to realise the control of the manipulator and humancomputer interaction and other functions.(4)Experimental platform testing and algorithm verification.The experimental platform of the workpiece handling robot arm control system is established,and the functional test of the motion controller is completed;the robot arm positioning accuracy test and the robot arm trajectory planning experiment are conducted,and the results show that the designed control system operates stably,positions accurately,and meets the requirements of high-speed and smooth motion of the handling robot arm,and the effectiveness of the trajectory planning method based on the improved Gray Wolf optimization algorithm is verified. |
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