关键词: 伺服系统, 工业机器人, PID控制器, MatlabRTW

Abstract:

As the servo system of robot is a multi-variable nonlinear control system, there exist many complex problems in the system development, thus resulting in the difficulty in the development of the robot control system. In order to solve this problem, a design proposal for robot servo system based on MatlabRTW is presented. Then, by taking an explosive disposal robot with 5 degrees of freedom as the object, the framework of the servo system is designed in MatlabRTW environment, and is compiled into a real-time system running on X86 computer through xPC target system. Moreover, with the employment of a set of PID complex controllers, the system becomes expert. Application results demonstrate that, by adopting the proposed scheme, the robot stably runs in a large loading range with good robustness and real-time ability, and that the rapid prototyping of robot servo system is easy to implement.

Key words: servo system, industrial robot, PID controller, MatlabRTW