An integrated design method coupling structure and control for industrial robot

BAI Keqiang; LIU Zhigui; WANG Yingtong

doi:10.3981/j.issn.1000-7857.2018.09.012

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Science & Technology Review ›› 2018, Vol. 36 ›› Issue (9) : 91-96. DOI: 10.3981/j.issn.1000-7857.2018.09.012

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An integrated design method coupling structure and control for industrial robot

Author information -

1. Information Engineering College, Southwest University of Science and Technology, Mianyang 621010, China;
2. City College, Southwest University of Science and Technology, Mianyang 621000, China

Abstract

Focused on the large error of separation design for industrial robot servo system structure and control, a new integrated design method for coupling structure and control is proposed. The method takes the structural weight, tracking precision and control energy as the target function, takes stable and fast tracking performance as the constraint, and considers the coupling problem of structure and control by using a step iterative strategy so as to achieve the goal of the industrial robot working in the best state. The integrated design method is evaluated via MTALAB on a two joint robot. Simulation results show that the proposed method can make the industrial robot have good robustness, and that the adjustment of the length of time, overshoot elimination and step response are all superior to those by separation design, the robot system being working in optimal performance.

Key words

industrial robots / structure and control / coupling / servo system / integrated design

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BAI Keqiang, LIU Zhigui, WANG Yingtong. An integrated design method coupling structure and control for industrial robot[J]. Science & Technology Review, 2018, 36(9): 91-96 https://doi.org/10.3981/j.issn.1000-7857.2018.09.012

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