Joint Following Control and Simulation of Electronic Component Assembly Robot
In view of the poor tracking performance of the assembly robot,a flexible control model for electronic components assembly based on the joint tracking strategy of the robot is presented in the paper.The relative angle er-ror and relative angular velocity error of the joints of the assembly robot were used as the state variables of the control system,and the three-joint following controller of the manipulator was designed.The above model of the electronic component assembly compliance control was analyzed using MATLAB/Simulink,and the validity of the three-joint following controller was verified.The simulation results show that the electronic component assembly compliance con-trol model based on robot joint following strategy significantly reduces the accuracy error of the traditional PID control system model,controlled within 0.05rad,and can more effectively solve the problem of large assembly accuracy error.At the same time,combined with the three-joint following control method of the robotic arm,the stability of the elec-tronic component assembly system is enhanced,ensuring the quality of electronic component robot assembly.
NETL
NSTL
万方数据
维普
