Industrial Robot Joint Servo Model Identification and Parameter Self-tuning
To solve the problems of system stability and time-consuming tuning in parameter tuning of industrial robot joint servo system controller,a maximum phase margin parameter tuning method based on servo system model identification was proposed.A theo-retical model of the speed loop of the industrial robot joint servo controller was established;the spectral analysis method was used to identify the servo system speed loop model and establish an accurate mathematical model;the joint servo control parameters were adjus-ted based on the given phase margin coefficient.By building an industrial robot experimental platform,the frequency domain tuning method based on servo system model identification was compared with the frequency domain tuning method based on the theoretical model.Experimental results show that the position root mean square error of the robot end in the X direction is reduced by 11.8％,in the Y direction by 26.2％,and in the Z direction by 23.4％.The results verify the feasibility and effectiveness of this method in improving the positioning accuracy of the end effector of industrial robots.
万方数据
维普
