Integrated Application and Optimized Design Strategies of Automatic and Servo Control Systems for Industrial Robots

Abstract

At present, industrial robots have been widely used in industrial fields. This topic focuses on optimizing the system of servo control technology for the automatic control of industrial robots. Taking the optimization of robot automatic grasping technology with visual servo as an example, image-based and position-based visual servo control schemes are designed, respectively, and adaptive gain and first-order non-singular linear equations are used for visual servo performance enhancement. Open-loop control and closed-loop control are combined to create the visual servo-based automatic robot grasping docking method. The dynamic tracking effect of visual servo technology and the grasping performance of automatic grasping technology are evaluated through test experiments. The results can be obtained that the image-based and position-based visual servo control schemes can realize better dynamic tracking of objects, and the tracking accuracy is kept within 1.1mm and 8mm in the uniform and variable speed experiments, respectively. The robot’s automatic target grasping error gradually decreases to about 0 with the increase in the number of steps, and the system exhibits high grasping accuracy (over 96.67%) and speed (within 0.80s) at an operating speed lower than 20 m/s. Dynamic tracking performance and target grasping accuracy are certain features of the automatic robot grasping method based on the visual servo in this paper.

Keywords

• servo control
• dynamic tracking
• automatic grasping docking
• automatic control
• industrial robots
• 68m10