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.
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
.
DOI: 10.3981/j.issn.1000-7857.2018.09.012
[1] Toumi K Y. Modeling, design and control integration:A necessary step in mechatronics[J]. IEEE/ASME Transactionson Mechatronics, 1996, 1(1):29-37.
[2] 李素兰, 黄进, 段宝岩. 一种雷达天线伺服系统结构与控制的集成设计研究[J]. 机械工程学报, 2010, 46(19):140-145. Li Sulan, Huang Jin, Duan Baoyan. Integrated design of structure and control for radar antenna servo-mechanism[J]. Journal of Mechanical Engineering, 2010, 46(19):140-145.
[3] Tripathi S M, Tiwari A N, Singh D. Optimum design of proportional-integral controllers in grid-integrated PMSG-based wind energy conversion system[J]. International Transactions on Electrical Energy Systems, 2016, 26(5):1006-1031.
[4] Chen Q, Chen W, Yang G, et al. An integrated two-level selfcalibration method for a cable-driven humanoid Arm[J]. IEEE Transactions on Automation Science & Engineering, 2013, 10(2):380-391.
[5] Xiong D, Xiao J, Lu H, et al. The design of an intelligent soccer-playing robot[J]. Industrial Robot, 2016, 43(1):91-102.
[6] Iqbal U, Samad A, Nissa Z, et al. Embedded control system for autarep-a novel autonomous articulated robotic educational platform[J]. Tehnicki Vjesnik, 2014, 21(6):1255-1261.
[7] Manzoor S, Islam R U, Khalid A, et al. An open-source multiDOF articulated robotic educational platform for autonomous object manipulation[J]. Robotics and Computer-Integrated Manufacturing, 2014, 30(3):351-362.
[8] Chen C L, Wu T C, Peng C C. Robust trajectories following control of a 2-link robot manipulator via coordinate transformation for manufacturing applications[J]. Robotics and ComputerIntegrated Manufacturing, 2011, 27(3):569-580.
[9] Yang C, Wang X, Cheng L, et al. Neural-learning-based telerobot control with guaranteed performance[J]. IEEE Transactions on Cybernetics, 2016, 47(10):3148-3159.
[10] Habib T, Komoto H. Comparative analysis of design concepts of mechatronics systems with a CAD tool for system architecting[J]. Mechatronics, 2014, 24(7):788-804.
[11] Bai K Q, Luo M Z, Li T, et al. Active vibration adaptive fuzzy backstepping control of a 7-DOF dual-arm of humanoid robot with input saturation[J]. Journal of Intelligent & Fuzzy Systems, 2016, 31(6):2949-2957.
[12] Bai K Q, Luo M Z, Jiang G W, et al. Research of the torque compensation method for the vibration suppression of the industrial robot[C]. Proceedings of the 2015 IEEE Conference on Robotics and Biomimetics, 2015:2575-2579.
[13] Zhao J, Zhao T, Xi N, et al. MSU tailbot:Controlling aerial maneuver of a miniature-tailed jumping robot[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(6):2903-2914.
[14] Baisch A T, Ozcan O, Goldberg B, et al. High speed locomotion for a quadrupedal microrobot[J]. International Journal of Robotics Research, 2014, 33(8):1063-1082.
[15] Xia M, Li T, Zhang Y, et al. Closed-loop design evolution of engineering system using condition monitoring through internet of things and cloud computing[J]. Computer Networks the International Journal of Computer & Telecommunications Networking, 2016, 101:5-18.
[16] John J Craig. 机器人学导论[M]. 贠超, 译. 北京:机械工业出版社, 2006. John J Craig. Introduction to robotics mechanics and control[M]. Yun chao, trans. Beijing:China Machine Press, 2006.
