Research on Zero Force Control Strategy for Flexible Joints of Industrial Robot Arms

Research on Zero Force Control Strategy for Flexible Joints of Industrial Robot Arms

In order to achieve the control of flexible joints in industrial robotic arms, this article first establishes a zero force control mathematical model of the joint, including a simplified joint model and a joint dynamics model. Then, the fuzzy PID control algorithm is used to solve the robot mathematical model, achieving control of joint response time and speed. In order to verify the effectiveness of the joint control strategy, this article uses ABB Robot 1200 as the basic simulation model of the robot. After three-dimensional modeling of the flexible joint, it is linked to the ABB robot. Finally, the control accuracy of the control strategy is verified through a simulation environment.