Design of Industrial Robot Dynamics Controller

摘要

In recent years, with the rapid advancement of science and technology, industrial robots have deeply integrated with mechanical technology under the impetus of electronic and control technologies, becoming one of the key areas of national technological development. They are widely applied in manufacturing, logistics, healthcare, and various other fields. Among industrial robots, six-axis collaborative robotic arms represent a significant branch, where dynamics modeling and controller design play a critical role in enhancing their performance. This paper, based on the structural characteristics of six-axis collaborative robotic arms, meticulously constructs a Denavit-Hartenberg (D-H) parameter table and employs the Lagrangian method to establish a comprehensive dynamics model. On this foundation, a dynamics controller based on Proportional-Integral-Derivative (PID) control is designed to achieve precise control and rapid response of the robotic arm in complex environments. To validate the controller's performance, Matlab software was utilized for simulation analysis. The simulation results demonstrate that this control method enables the robotic arm to quickly converge to the desired trajectory within a short period, exhibiting excellent rapid tracking capability and dynamic performance. These findings provide robust technical support for practical engineering applications.