Adaptive Control System for Industrial Robotic Manipulator

Abstract

The article describes a method for adaptive control of an industrial robotic manipulator in contour control tasks. Such tasks include a large number of technological operations performed by industrial robotic manipulators. These are arc welding, applying sealant, etc. In the conditions of modern robotic production, this problem is solved with the help of CAD-CAM technologies, which make it possible to draw up a description of the trajectory of the working tool using the CAD model of the work object and implement it with a robotic manipulator. Problems arise when implementing this approach in small industrial enterprises, the product range of which changes often. In this case, you have to manually reset the robotic system (RS). In addition, in small-scale production, it is necessary to take into account and compensate for the actual errors in the manufacture of parts and their positioning by verification of the reference points of the trajectory. To automate the solution of these problems, a method for adaptive control of an industrial robotic manipulator is proposed, based on the use of a CAD model of the work object and an RGB-D sensor installed in the area of ​​the manipulator end link to measure the distance to the object marked with a QR code. Comparing the CAD model with the actual position of the work object relative to the working tool allows to make the necessary correction in the contour control process, i.e. ensure the adaptation of this process to real technological conditions. Calibration of the manipulator and generation of trajectories in real time significantly reduces the time of readjustment of the RS and facilitates its operation in small-scale production. The conducted experimental studies have confirmed the effectiveness of the proposed approach, which can find application in small industrial enterprises, with a frequently changing product range.