1. 毕业设计（论文）的内容和要求

The six-degree-of-freedom articulated robot has high flexibility and a wide working space. It can flexibly bypass obstacles, and has a compact structure and a small footprint. The relative moving parts on the joints are easy to seal and dustproof. Processes such as loading and unloading, picking, arc welding and painting of machine tools. With the wide application of robots, it is particularly important to study the basic theory, specific structure and technical methods of robot design. The development of power electronics, micro-processing technology, control technology and motor manufacturing technology has brought the performance of motion control systems to a whole new level. In the field of transmission, it is often necessary to achieve high-precision position control of the controlled object. A basic condition for precise position control is the need for a high-precision actuator. Therefore, this topic selects the servo motor as the controlled object and obtains the highest level of dynamic response. This design requires the world's advanced ABB six-joint industrial robot as the platform to design the control system to operate the ABB robot's six actions, five half-degree-of-freedom trajectory control, which can imitate some functions of the human upper limb, six The action can be controlled by single axis or six axes simultaneously; the drive mechanism adopts electric form, and the AC servo motor control scheme is provided according to different requirements. The servo motor control mode is manual and automatic; the control system requires ABB's own robot controller. Take control. The task of this project is to combine hardware and software to achieve the control of the ABB six-joint manipulator. The basic configuration is as follows: The upper computer uses the ABB robot motion controller. Software part: Using ABB robot controller programming software, it has strong monitoring ability, can realize ladder diagram monitoring, list relay monitoring, dynamic timing diagram monitoring and other commands. The robot is mainly composed of three parts: the actuator, the drive mechanism and the control system. As shown in the figure below: ABB six-joint robot control system hardware structure The key technologies are as follows: (1) Understanding the learning of ABB robot electrical control unit and drive unit design (2) Understanding the learning of ABB robot sensing and error correction system (3) Understanding ABB robot servo control technology and position closed-loop control technology to optimize system dynamic performance (4) Using ABB robot controller for software programming and related motion control parameter adjustment to improve the positioning accuracy and smoothness of the system (5) Position/force hybrid control method using ABB robot controller Main content 1. Understand the motion characteristics and composition of the robot; model the kinematics of the ABB six-joint industrial robot; 2. Determine the control system architecture of the robot with the master-slave mode of the PC motion controller;　 3. Design hardware and software for the control system; understand the composition and control methods of the robot's control system; 4. Finally, the control system is debugged and tested to realize the trajectory control of the industrial robot. 5. Compile the robot's action program and master the main working principle and operation method of the robot; 6. Write a PLC program to study the control law of the robot; 7. Analyze the position/force mixing control method of the robot (increase the force sensor) Main requirement 1. Read more than 20 relevant documents in Chinese and foreign languages; 2. Translating a foreign language document, translation of 3000 Chinese characters or more； 3. Complete the opening report of this topic, no less than 3,000 Chinese characters; 4, according to the school 2019 "comprehensive papers" writing norms, complete the graduation design papers of this topic, requiring more than 12,000 words.

2. 参考文献

[1] Wu Ting. Design and implementation of vertical six-joint industrial robot control system [D]. Fuzhou University, 2013. [2] Wang Ning, Zhang Xinmin. Trajectory Planning and Simulation of Six Degrees of Freedom Robot Based on MATLAB[J]. Manufacturing Automation. 2014(15) [3] Wang Caidong, Wu Jianrong, Wang Xinjie, Chen Lumin. Configuration Design and Performance Analysis of Six Degrees of Freedom Tandem Robot[J]. Mechanical Design Research. 2013(03) [4] Wang Zhanzhong, Yang Changjian, Liu Chaoying, Xiong Meng. Co-simulation of six-degree-of-freedom robot based on MATLAB and ADAMS[J]. Manufacturing Automation. 2013(18) [5] Zhai Jingmei, Kang Bo, Zhang Tie. Dynamic Analysis and Simulation of Six Degrees of Freedom Spraying Robot[J]. Mechanical Design Manufacturing. 2012(01) [6] Tian Dongsheng, Hu Ming, Zo Ping, Liu Yongxian. Modal Analysis of Six Degrees of Freedom Industrial Robot Based on ANSYS[J]. Machinery Electronics. 2009(02) [7] Hou Xiangming, Zhang Lixiang. Three-dimensional motion simulation of cosmosmotion six-degree-of-freedom welding robot based on SolidWorks[J]. Coal Mine Machinery. 2007(09) [8] Hu Zhonghua, Chen Huanming, Xiong Zhenyu, Jiang Shuyuan. Kinematics Analysis and Solution of Motoman-UP20 Robot[J]. Mechanical Research and Application. 2006(05) [9] Zhao Hui, Han Junwei, Zhang Shangying, Cheng Xiling. Dynamic Analysis and Calculation of Six Degrees of Freedom Parallel Robot[J]. Journal of Jinan University(Natural Science Edition). 2003(02) [10] Shu Zhibing et al. AC servo motion control system [M]. Beijing: Tsinghua University Press, 2006 [11] Shu Zhibing, editor. Analysis of application examples of mechatronics systems [M], China Electric Power Press, 2004.5 ISBN: 978-7-5083-8452-8 [12] Shu Zhibing, editor. Mechatronics System Application Cases [M], China Electric Power Press, 2011.8 ISBN: 978-7-5123-1769-7 [13] Shu Zhibing, editor. Advanced Motion Control System and Its Application Research [M], Tsinghua University Press, 2015.9 First Edition, ISBN: 978-7-302-40090-5 [14] K. S. Eom, H. Suh, W. K. Chung, Disturbance observer based path tracking control of robot manipulator considering torque saturation, IEEE Transactions on Mechatronics, 6(11): 325-343, 2001. [15] C.-H. Choi , N. Kwak, Disturbance attenuation in robot control, In Proc. Int. Conf. Robotics and Automation, Seoul, Korea, pp.2560#8211;2565, May 2001. [16] C.-H. Choi , N. Kwak, Robust Control of Robot Manipulator by Model-Based Disturbance Attenuation, IEEE/ASME Trans. Mechatron., 8(4): 511-513, 2003. [17] M. Ertugrul, O. Kaynak, Neuro sliding mode control of robotic manipulators, IEEE/ASME Trans. Mechatron., 10: 239-263, 2000. [18] S.M. Phillips, K. R. Ballou, Friction Modeling and Compensation for an Industrial Robot, Journal of Robotic Systems. 1993, 10(7): 947-971. [19]C. Canudas de Wit, et al, Adaptive Friction Compensation in Robot Manipulators: Low-Velocities. International Journal of Robotics Research, 1993. 10(3): 189-199. [20] P. Tomei, Robust Adaptive Friction Compensation for Tracking Control of Robot Manipulators, IEEE Trans. Auto. Contr., 45(6): 2164-2169, 2000. [21] J. Y. S. Luh, et al, Joint Torque Control by a Direct Feedback for Industrial Robots. IEEE Transactions on Automatic Control, 1983, 28(2): 153-161. [22] Toth, Sandor J.， New PC and LabVIEW based robot control system，Periodica Polytechnica, Mechanical Engineering v 43 n 2 1999. p 179-188 [21] Li Bingqiang, Lin Hui. Iterative learning method for suppressing PMSM periodic torque ripple. Journal of Electric Machines and Control, 2011.15(09): 51-55. [14] LI Zheng, HU Guang, CUI Jiarui. Integral Sliding Mode Variable Structure Control of Permanent Magnet Synchronous Motor Speed Control System[J]. Proceedings of the CSEE, 2014, 34(3): 431-437. [22] X. Zhang, L. Sun, K. Zhao, and L. Sun, Nonlinear speedontrol for PMSM system using sliding-mode control and disturbance compensation techniques[J]. IEEE Transation on Power Electronics, 2013,28(3):1358-1365. [23] Lu Tao, Yu Haisheng, Shan Bingqiang et al. Adaptive Sliding Mode Maximum Torque/Current Control for Permanent Magnet Synchronous Motor Servo System. Control Theory and Applications, 2015, 32(2): 251-255. [24] H. Kim, J. Son, and J. Lee, ”A high-speed sliding-mode observer for the sensorless speed control of a PMSM[J]. IEEE Transation on Industrial Electronics, 2013, 28(7):3549-3556.

3. 毕业设计（论文）进程安排

1-1 ～ 3-7 Layout design tasks, learning basics 3-8 ～ 3-18 Read the references, translate the literature, and prepare the opening report. 3-19 ～ 3-31 Complete the opening report and literature review. 4-1 ～ 4-20 Familiar with ABB robot software programming environment, learn robot dynamics model, design hardware wiring diagram. 4-21 ～ 5-10 Completion of ABB six-joint robot system control program writing, robot trajectory control, and hardware debugging. 5-11 ～ 5-21 Write the first draft of the graduation thesis, debug the robot control system at the same time, and improve the control system function 5-22 ～ 6-5 Write the final draft of the thesis, robot control system debugging, demonstration Before 6-15 Submit all graduation design official materials electronic and printed 6-15 ～ 6-18 Prepare to reply 6-18 ～ 6-22 Reply