Stabilization of positioning points in the control system of industrial robotsmanipulators

Abstract

In recent years, industrial work has become widespread throughout the world. They improve the quality of work, minimize the time of manufacturing parts and save on industrial costs, and can also work in environments hazardous to humans. One of the most important tasks in the implementation of control systems for industrial robots is setting the parameters of multidimensional controllers in it, in particular PID controllers. The POD regulator is one of the most common types of regulators. About 90…95% of the regulators involved during operation use the POD algorithm. Despite the abundance of publications, there are still many problems in the issues of tuning the parameters of PID controllers. The effectiveness of the use of manipulative industrial robots is largely determined by the quality and speed of their implementation of the specified (program) modes of their work. The quality, in turn, depends on the accuracy of tracking the program movement of the manipulator. In this regard, this article proposes a procedure for tuning the parameters of multidimensional PID controllers based on the modal synthesis of the stabilization law using the proposed method of uncertain coefficients. This approach is universal and can be used to stabilize the operation of other technical objects and technological processes. Ref. 24, pic. 5.

Keywords

• manipulator robot
• multidimensional PID controller
• two-loop control system
• modal adjustment of PID controller parameters
• method of uncertain coefficients