Synchronous control method of annular coupling type multi-axis robot system

A multi-axis robot and synchronous control technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of inability to take into account the correlation of each axis, poor synchronization of multi-axis robot control system, etc., and achieve rapid improvement Convergence performance, enhanced trajectory tracking accuracy, and improved dynamic performance

Inactive Publication Date: 2018-04-10
CHANGCHUN UNIV OF TECH
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Problems solved by technology

Therefore, the existing individual tuning methods cannot take into account the correlation between the axes, resulting in poor synchronization of the multi-axis robot control system

Method used

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  • Synchronous control method of annular coupling type multi-axis robot system
  • Synchronous control method of annular coupling type multi-axis robot system
  • Synchronous control method of annular coupling type multi-axis robot system

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Embodiment Construction

[0059] A synchronous control method for a ring-coupled multi-axis robot system, characterized in that the robot system includes: a robot controller, a multi-axis servo motor as a controlled object, a plurality of position controllers corresponding to the multi-axis servo motor, and A plurality of processing modules corresponding to the multi-axis servo motor, and a plurality of position sensors corresponding to the multi-axis servo motor; the position controller, the processing module and the position sensor are all connected to the robot controller, and the robot controller and the drive of each axis of the robot The device is connected, the input end of the position controller is connected to the corresponding processing module, the output end of the controller is connected to the robot controller, and the position sensor is used to detect the axis position of the robot; these are the control system of a robot.

[0060] When a given position changes,

[0061] 1) The robot co...

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Abstract

The invention relates to a synchronous control method and track tracking of an annular coupling type multi-axis robot system based on a self-adaptive fuzzy PID. Before the position controller operates, the PID parameters by adopting a self-setting method is set, and based on the self-adaptive fuzzy PID method, a multi-axis robot trajectory tracking controller is designed; and a multi-axis robot synchronous controller is designed on the basis of an annular coupling type control method. The synchronous control method can effectively improve the synchronous control problem of the multi-axis robotsystem, the fast convergence performance of the system is improved, and the track tracking precision of the multi-axis robot system is enhanced.

Description

technical field [0001] The invention belongs to the field of multi-axis robot control, and relates to a synchronous control method of a ring-coupled multi-axis robot system, in particular to the synchronous control and tracking control of a multi-axis robot system with uncertain control parameters and complex structure. Background technique [0002] The robot system is a highly complex system with strong nonlinearity and strong coupling. It has the characteristics of multiple input and multiple output, and there are many uncertainties and factors that are not conducive to the improvement of system performance. Nowadays, robots in industry are often used in arc welding, cutting, assembly and other occasions that require extremely high trajectory tracking and running stability. The requirements for the robot's maximum working speed, acceleration, trajectory accuracy and other performance indicators are getting higher and higher. Most industrial robots use independent joint con...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李岩柴媛媛杨宏韬
Owner CHANGCHUN UNIV OF TECH
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