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Trajectory tracking control method of three-joint spot welding robot

A control method and trajectory tracking technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as insufficient control quality such as convergence speed

Active Publication Date: 2016-07-20
SUZHOU JIQI ELECTROMECHANICAL SCI & TECH CO LTD
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Problems solved by technology

This is very effective for robots like repetitive tasks, but iterative learning control is mostly only suitable for those systems that can repeat tasks, and it is not enough for control qualities such as convergence speed

Method used

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  • Trajectory tracking control method of three-joint spot welding robot
  • Trajectory tracking control method of three-joint spot welding robot
  • Trajectory tracking control method of three-joint spot welding robot

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Embodiment Construction

[0056] In order to make the technical solutions and design ideas of the present invention clearer, a more detailed description will be given below in conjunction with the accompanying drawings and embodiments.

[0057] The present invention is aimed at a three-joint spot welding robot. In order to overcome the above-mentioned existing control methods that cannot solve the problems of accurate trajectory tracking and poor anti-interference ability, the present invention adopts anti-interference control technology with decoupling to design a spot welding robot. Anti-interference ability and precise tracking control strategy. An independent anti-interference controller with decoupling characteristics is designed for each joint of the spot welding robot, and at the same time, the decoupling control in the algorithm is used for the coupling between the joints, which can not only effectively control the joints The control also solves the coupling problem between the joints. At the s...

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Abstract

The invention discloses a trajectory tracking control method of a three-joint spot welding robot. The trajectory tracking control method comprises the steps of 1) establishing a mathematical model of a three-joint spot welding robot system, wherein in practical engineering, an accurate mathematical model is quite difficult to obtain, so that when establishing the mathematical model of the spot welding robot, an operator needs to perform reasonable approximate treatment on the spot welding robot and ignore some indeterminate factors, and dynamic modeling is carried out on the horizontal three-joint spot welding robot through utilizing the Lagrange method; and 2) designing an expanded state observer, wherein through adopting the expanded state observer, indeterminate dynamic states can be adopted as part of the total disturbance for estimation. According to the trajectory tracking control method, decoupling control can be effectively carried out on multi-joint spot welding robots, and the method has quite high restraining ability for indeterminacy of multi-joint robots, internal and external disturbance of the system, and indeterminacy of the model.

Description

technical field [0001] The invention is applied in the field of robot control, and relates to the problem of track tracking of industrial robots in practical applications, especially the path planning and track tracking of spot welding robots used in automobile manufacturing, and realizes an effective real-time control method. Background technique [0002] With the development of computer and automation technology, especially since the birth of the first computer, the computer has made great progress, and gradually develops in the direction of giantization, miniaturization, intelligence and networking. At the same time, with the continuous expansion of industrial scale, the urgent need for mass production has promoted the continuous progress of automation technology and laid the foundation for the research and development of industrial robots. Due to the advantages of flexible movements, small motion inertia and strong versatility, industrial robots have been widely used in ...

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Application Information

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IPC IPC(8): B23K11/11B25J9/16B25J19/00
Inventor 李跃
Owner SUZHOU JIQI ELECTROMECHANICAL SCI & TECH CO LTD
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