Implementation and Control for a Track Motion Robotic Manipulator

摘要

The value addition of automation for traditional manufacturing industries, even the development of intelligent automation industries, is still one of the important developing directions for our country. In various kinds of automation applications, the problem of the space limit for processing is often happened. Concerning the functional combination of delivery and carry, the type of processing manufacture must be modified as the structure of a track motion robot, used to replace the manpower of carry, positioning, holding and loading/unloading, etc. For practical applications, an industrial robot system is a highly nonlinear, time-varying and coupling system. In order to satisfy the requirement of high performance, the design of controllers is a challenge, especially to control a kind of track motion robot with different working frequencies for the combination of track motion and machine vision, the degree of difficulty for stable control must be raised very much. The paper mainly focuses on realizing and controlling of the robot robustly. Therefore, we will design a kind of track motion robots with the capacity of machine vision and develop a set of robust servo control system.