研磨抛光机器人运动控制器设计与研究

本文设计了研磨抛光机器人运动控制器的核心硬件结构和软件模块,采用了参数模糊自整定PID机器人关节位置控制策略,通过实验表明该运动控制器可以大大降低研磨抛光机器人的位置跟踪误差。建立的模块化的软件体系,便于运动控制器的维护和扩展,并可将其应用到其它工业机器人上。

In the paper, the central hardware structure and software modules of motion controller of grinding and polishing robot are designed. A fuzzy PID control strategy with self-tuning parameters of robot joint position is introduced in this paper. Through experiments, it shows that the motion controller may greatly reduce the error of tracking of grinding and polishing robot. Software modules established make the motion controller be maintained and extended conveniently. It may be applied to other industry robots.

中国科学院知识创新工程重大资助项目(KGCX-SW-15)