Research on automatic control and servo control technology of industrial robots for high-precision assembly requirements

Industrial robots find widespread application in machining, part assembly, and welding processes. This paper focuses on the precise control of industrial robots, using the permanent magnet synchronous motor (PMSM) as the driving device of the manipulator. By constructing a mathematical model of the PMSM and implementing a vector control strategy, we design an adaptive control algorithm based on the feature model. We also introduce the golden section adaptive control and the position outer-loop control, which are based on the nonlinear proportional regulator. This approach enables the creation of industrial robots that utilize high-precision servo control technology. After analyzing the response speed and positional accuracy of the servo control technology through testing experiments, we integrated this technology into the design of the automatic control system for industrial robots and conducted simulation tests to explore its performance in various applications. The results demonstrate the superior speed response speed and position control accuracy of the servo control technology; the response times for speed and position are approximately 0.2 seconds and 1 second, respectively, with a maximum deviation of 31.75 rpm when the speed remains constant. The industrial robot control system's structural displacement and tool switching time are both within 2.88 mm and 0.65 s, and it has a large torque. The study confirms that servo control technology and automatic control of industrial robots have superior performance. © 2024 Shukai Liu, published by Sciendo.