Abstract: With the widespread application of industrial robots, the motion status of actuators is crucial. This paper introduces a servo control system that uses the LM628 as the core component and incremental PID for overshoot control, which effectively solves the problems of motion speed and accuracy of actuators.
Keywords: LM628 industrial robot servo drive PID control
1. Industrial Robot Motion Realization
A typical industrial robot structure is shown in Figure 1. An industrial robot generally consists of a main frame (arm), wrist, drive system, measurement system, controller, and sensors. The movement of an industrial robot is accomplished by the main frame (multi-joint body) and the wrist (end-effector), which is mostly a multi-joint (axis) structure. Its operation is completed based on the end-effector reaching a designated position at a certain speed (acceleration) to perform the operation. The end-effector's operation is performed in Cartesian coordinate space (operation space), while each joint operates (rotates) relative to its own joint coordinate system.
The mathematical models for realizing the motion of industrial robots mainly consist of kinematic equations and dynamic equations. Kinematic equations are a mapping from joint space to operating space (i.e., establishing a spatial model relative to the stationary frame), and their inverse solution is to find the preimage in joint space from the mapping (i.e., pose control). Dynamics is to solve the robot's motion (joint displacement, velocity, and acceleration) based on the driving forces (torques) of each joint. Its inverse solution is to find the required joint forces (torques) given the joint displacements, velocities, and accelerations, which is necessary for real-time control.
For details, please click: Application of LM628 in Industrial Robot Servo Drives
