Optimization research on automatic control and servo control system of high-precision assembly industrial robot based on variational method

Abstract

The development of industrial robotics technology has led to a large number of applications in assembly tasks in production practice, but due to factors such as the complexity of the assembly process, the robot's own positioning accuracy and the limitations of vision technology, there are still great challenges in the control of high-precision assembly of robots. In this paper, a high-precision assembly industrial robot automatic control and servo control system combined with flexible assembly technology is proposed. In this system, an actuation system and a mechanics perception system are designed. The actuation system is based on 6PUS-UPU parallel robots, and the motion control of the assembly robot is realized by kinematic inverse solution. The mechanics sensing system is constructed based on a six-dimensional force sensor as a way to obtain the force/torque data during the assembly process of the industrial robot. Then the robot motion model is linearized using the variational method, and then an ideal impedance model is set for the adjustable parametric impedance control system to realize the supple control of the industrial robot with reference to the adaptive control method. It is found that the optimized automatic control and servo control system of the high-precision assembly industrial robot in this paper has higher assembly efficiency and strong fault-tolerant assembly effect. Therefore, the optimization of the automatic control and servo control system of high-precision assembly industrial robots can lay a solid foundation for improving the industrial production level.