重庆工商大学学报（自然科学版）2017，Vol.34Issue(1)：87-93,7.DOI:10.16055/j.issn.1672-058X.2017.0001.017
基于DS P的焊装机器人控制算法研究与仿真设计
Research and Si mu lation of Control Algorith m Design of Welding Robot Based on DSP
摘要
Abstract
Based on the establishment of six DOF welding robot D-H coordinate system and the parameters of the arms,the forward kinematics and inverse kinematics equations are studied and its numerical simulation algorithm is designed and simulation model in MATLAB environment is also designed,and the control of each joint motor under the fixed control mode and fixed gravity compensation is also obtained.On the basis of the dynamic control equation of six DOF robot, the consideration of the characteristics of the motors and the dynamic characteristics of the robot arm are also obtained,and the optimization model of sensor feedback control is established.The four robot welding station in Tecnomatix environment is created,Using the Robotics function module provided,the path and function of the robot are realized.The Newton Euler inverse kinematics equations of the digital signal processor are used to solve the robot’s joint coordinate and to process the sensor feedback signal in real-time,and to realize the closed-loop control of the multi servo system.关键词
机器人正逆动力学/数字信号处理器/实时控制Key words
forward and inverse dynamics of robots/DSP/real-time control分类
机械制造引用本文复制引用
邓顺,周康渠..基于DS P的焊装机器人控制算法研究与仿真设计[J].重庆工商大学学报（自然科学版）,2017,34(1):87-93,7.基金项目
国家重大科技专项《长安汽车城节能与新能源汽车智能柔性焊接新模式应用项目》． （）
