Research on Design and Motion Control of 5-DOF Robot for Bending

doi:10.1109/CCIS.2018.8691339

CORC > 兰州理工大学 > 兰州理工大学 > 机电工程学院

	Research on Design and Motion Control of 5-DOF Robot for Bending
	Wu, Chengzi 2; Xu, Fengyu 2; Zhang, Laixi 1; Hu, Jinlong 3; Yang, Zhong 2
	2019-04-12
会议日期	November 23, 2018 - November 25, 2018
会议地点	Nanjing, China
关键词	Cloud computing Degrees of freedom (mechanics) Dynamics Kinematics Motion control Robots Sheet metal Three term control systems Unloading Application prospect Fuzzy pid controls Fuzzy PID algorithm Kinematics and dynamics analysis Robot motion control Servo-drive systems Sheet metal bending process Three-dimensional model
DOI	10.1109/CCIS.2018.8691339
页码	512-516
英文摘要	In order to realize the automatic loading and unloading and following bending during the sheet metal bending process, this paper presents a five-degree-of-freedom bending robot to replace the worker to realize the automatic bending process. Specially as follows: Firstly, the relevant parameters of the five-DOF robot are determined, and the three-dimensional model of the robot is established based on this. Then the robot kinematics model is established by D-H method, and the kinematics and dynamics analysis of the designed five-DOF robot are performed. After that, fuzzy PID algorithm is used to optimize the motion control of the robot. Finally, the motion performance of each joint motion trajectory function of the five-DOF robot is simulated and analyzed, so as to verify the accuracy and stability of the robot motion. The simulation results show that, fuzzy PID control algorithm is well applied in the designed five-degree-of-freedom bending industrial robot servo drive system, and has a good application prospect in the field of high precision and strong dynamics of robot motion control. © 2018 IEEE.
会议录	Proceedings of 2018 5th IEEE International Conference on Cloud Computing and Intelligence Systems, CCIS 2018
会议录出版者	Institute of Electrical and Electronics Engineers Inc.
语种	英语
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/118137]
专题	机电工程学院
作者单位	1.School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou; 730050, China; 2.College of Automation, Nanjing University of Posts and Telecommunications, Nanjing; 210003, China; 3.Jiangsu Yangli Group Co., Ltd, Yangzhou; 225127, China
推荐引用方式 GB/T 7714	Wu, Chengzi,Xu, Fengyu,Zhang, Laixi,et al. Research on Design and Motion Control of 5-DOF Robot for Bending[C]. 见:. Nanjing, China. November 23, 2018 - November 25, 2018.