Abstract
The dynamic characteristics and energy dissipation level of articulated robot directly affect the stability of its control system. Taking IRB140 articulated robot as the research object, against the shortcomings of PID and other control algorithms, a torque feedforward control method based on electromechanical coupling dynamic model is proposed, and a block diagram of the feedforward control system of the articulated robot model is built, so as to completed the dynamic simulation and feedforward control experiment analysis, realize the purpose of visual control. Finally, the experimental platform of articulated robot control system is built to complete the positioning accuracy test and the experiment of transporting real objects. Through experimental analysis, it can be conclued that the proposed torque feedforward control method can realize the movement of each joint of articulated robot model along a predetermined trajectory, the dynamic performance index of each sports joint is stable and the energy dissipation is small, more importantly, the designed articulated robot control system can accurately accomplish the transporting tasks under different motion paths, the designed articulated robot control system can accurately complete the transporting tasks under different motion paths, so it is meet the actual production requirements.
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