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

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	Research on Design and Motion Conrol of 5-DOF Robot for Bending
	Wu, Chengzi 1; Xu, Fengyu 1; Zhang, Laixi 2; Hu, Jinlong 3; Yang, Zhong 1
	2018
关键词	Five-DOF robot Kinematic Dynamics Fuzzy PID algorithm
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.
会议录	PROCEEDINGS OF 2018 5TH IEEE INTERNATIONAL CONFERENCE ON CLOUD COMPUTING AND INTELLIGENCE SYSTEMS (CCIS)
会议录出版者	IEEE
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	英语
资助项目	Jiangsu Natural Science Foundation[BK20151505]
WOS研究方向	Engineering
WOS记录号	WOS:000468838000100
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/36194]
专题	机电工程学院
通讯作者	Wu, Chengzi
作者单位	1.Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing 210003, Jiangsu, Peoples R China 2.Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Gansu, Peoples R China 3.Jiangsu Yangli Grp Co Ltd, Yangzhou 225127, Jiangsu, Peoples R China
推荐引用方式 GB/T 7714	Wu, Chengzi,Xu, Fengyu,Zhang, Laixi,et al. Research on Design and Motion Conrol of 5-DOF Robot for Bending[C]. 见:.