Research on Position Domain Control of Six-joint Robot based on LinuxCNC System
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摘要: 在多轴联动下的多关节工业机器人的轮廓跟踪过程中，保证各关节单独良好的跟踪性能并不能保证理想的轮廓跟踪轨迹，这说明运动同步非常重要。针对LinuxCNC的一个数控系统，分析了减少末端轮廓跟踪误差的运动控制算法。结合工业机器人现有的运动学和动力学基础以及传统的PD控制理论，提出了一种基于Linux CNC系统的六关节机器人位置域控制算法，并在华数机器人HSR-JR605上进行了实验，验证了理论的有效性。Abstract: In the contour tracking process of multi-joint industrial robot under multi-axis linkage, good tracking performance of each joint alone cannot guarantee the ideal contour tracking track, which indicates that motion synchronization is very important. Aiming at a CNC system of LinuxCNC, the motion control algorithm to reduce the error of end contour tracking is analyzed. Combined with the existing kinematics and dynamics of industrial robots and the traditional PD control theory, a position domain control algorithm of six-joint robot based on Linux CNC system was proposed. Experiments on Huashu robot HSR-JR605 verified the validity of the theory.
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Key words:
- contour tracking /
- Six-joint robot /
- position domain control /
- PD control /
- LinuxCNC
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