Research on Hybrid Force/Position Control of CINCINNATI Industrial Robot
|Course||Mechanical Manufacturing and Automation|
|Keywords||CINCINNATI Industrial robot Hybrid force/position control PMAC Dynamics|
With the development of science and technology, the robot technology has got gradually broad application in each industry. At the same time the function of the robot is also greatly enhanced. In some complex missions, the robot is contact with the environment or operated object, the position control of traditional robot can no longer meet the requirements of control, then it need the power control. The problem of robot force control has become the hot spots of the control research.This paper uses the CINCINNATI industrial robot as the solid model, hybrid force/position control theory as the theoretical basis and IPC, PMAC multi spindle motion controller, Panasonic AC servoamplifier, Panasonic AC servo-actuator, position sensor and force sensor as the hardware basic of control system. Research on hybrid force/position control of CINCINNATI industrial robot.At first, the author introduced the robot control theory in this paper, analyzed the trend of the development of robot control, strived to explore the robot hybrid force/position control theory and methods. The next, analyzed the mechanical structure of CINCINNATI industrial robot, measured the geometry and motion parameters of the robot, established the kinematics, statics and dynamics equations, solved the positive and inverse problem of the kinematic equation, obtained the Jacobian matrix and the force Jacobian matrix. Work on the basis of the above, The paper found the predigested linearity state-space mode of CINCINNAI industrial robot, designed erect position hybrid controller for it and through Simulink progresses emulation for control system and redressal of PID controlling parameter, analyzed the stability of hybrid control system and obtained the stable control system. Finally, the author designed a control system hardware wiring which used PMAC multi-axis motion controller as the core and IPC, Panasonic AC servoamplifier,Panasonic AC servo motor, position sensor and force sensor as the main line.