Posted 2020-08-01Updated 2023-10-07Algorithm development2 minutes read (About 259 words)

Siasun-SR10A-Robot analysis and force feedback control simulation

Date: March – August 2020 (Course project)

In this project, D-H modeling method is used to conduct mathematical modeling for the industrial six-axis robot arm. On this basis, the admittance controller based on the end sensor is designed, and the simulation of SINMULINK force position hybrid control in the end peg-in-hole assembly process is completed.

Methodology

The robot model is shown in Fig 1.

Fig. 1 A six-axis robotic arm. (a) Schematic structure. (b) Model diagram.

In the process of peg-in-hole assembly, a hybrid control of force position is adopted. The diagonal selection matrix S determines the specific control mode, P and W represent the position control law and the force control law respectively, and U represents the controller output, as shown in Fig 2.

Fig. 2 Flow chart of force position mixing control.

The peg-in-hole assembly is divided into the approach stage (position control), the hole search stage (force position mixed control) and the jack stage (force control), the hole search stage needs to ensure that the Z-axis direction of the shaft and the plane contact is a constant contact force of the flexible control. SIMULINK design block diagram is shown below.

Fig. 3 SIMULINK design block diagram.