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Method for designing fuzzy PI controller of Delta robot movement mechanism

A technology of motion mechanism and design method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as inaccurate control, limited ability of PI controller to deal with system uncertainty, instability, etc.

Inactive Publication Date: 2015-01-07
JIANGNAN UNIV
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  • Application Information

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Problems solved by technology

The Delta robot control system is a nonlinear, multi-input, multi-output, and strongly coupled complex system. The PI controller has limited ability to deal with system uncertainties, which will cause inaccurate and unstable control.

Method used

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  • Method for designing fuzzy PI controller of Delta robot movement mechanism
  • Method for designing fuzzy PI controller of Delta robot movement mechanism
  • Method for designing fuzzy PI controller of Delta robot movement mechanism

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Embodiment Construction

[0038] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0039] The specific steps are:

[0040] (1) Install the Delta robot in the three-dimensional steel structure bracket, and establish the camera coordinate system and the robot base coordinate system, and convert the object coordinates recognized by the industrial smart camera to the robot's base coordinate system

[0041](1.1) four-degree-of-freedom Delta robot 110 is installed in the three-dimensional support 130, and the four-degree-of-freedom Delta robot 110 can move in the three-dimensional support 130; The front end of the three-dimensional support 130 adopts a global mode to install the industrial smart camera 100, the three-dimensional support 130 A conveyor belt 120 is arranged inside, and the motion direction of t...

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Abstract

The invention provides a method for designing a controller of a Delta robot movement mechanism based on LabVIEW graphical programming software and belongs to the technical field of robot control. The method is used for improving the dynamic response performance of a system and improving the tracking precision. The method for designing the controller of the Delta robot movement mechanism comprises the steps that the kinematic relation of a Delta robot is solved based on the structure of the Delta robot, and the inverse kinematical equations of an end effector moving to all shafts are established; the movement paths of all the shafts are fitted by means of a quintic polynomial curve; information obtained through feedback of an encoder of a servo motor and positional deviation e obtained through processing of an FPGA module are input to the fuzzy PI controller, and a speed pulse signal is output by the controller; a servo motor driver is driven through the FPGA module on a PCI-7842 board card of an NI, so that the motor is made to rotate to a specific position accurately and rapidly.

Description

technical field [0001] The invention relates to the field of Delta robot control. Specifically, based on LabVIEW graphical programming software, a fuzzy PI controller of a Delta robot motion mechanism is designed to improve the dynamic response performance of the system and improve tracking accuracy, and belongs to the technical field of robot control. Background technique [0002] Since the first industrial robot was applied to the production line in 1962, robot technology has been continuously developed, improved and matured, and has been widely used in various fields such as manufacturing, service industry, scientific exploration, medicine, military and aerospace. Industrial robots can replace humans to complete a large number of high-quality work, such as automobile manufacturing, electronic product manufacturing, food packaging, material handling, etc. Due to the characteristics of high rigidity, high speed, high precision, strong carrying capacity, small dynamic load, ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 白瑞林曹沁婕殷国亮梁兆瑞
Owner JIANGNAN UNIV
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