Design of bistable underactuated flexible control for multi-axis industrial robot

The multi-axis industrial robot is influenced by the self-disturbance and external disturbance of the force arm, which leads to the poor stability of the control output. A method of parameter identification and dynamic stability control of multi-axis industrial robot based on bistable underactuated flexibility is proposed. The sensor parameters are fused to obtain the measured values of the robot's D-H parameters, and the compensation torque is applied to the exoskeleton. Through the analysis of dynamic balance performance parameters, based on the synthesis of centroid acceleration information, the differential planning of the robot is realized by cubic spline interpolation, and the bistable mechanical characteristics of the robot are calibrated by axis measurement. The joint axis of the robot is obtained by fitting according to the change of driving pulse, and the robot moves to different positions and postures by combining with the dynamic adaptive parameter adjustment of axis pulse, so as to realize the minimum complete and continuous kinematic expression of the robot's end posture, thus realizing the bistable underactuated flexible control of multi-axis industrial robot. The test results show that the control design of multi-axis industrial robot is carried out by this method, and the absolute accuracy of the robot is improved from the original 2mm to about 0.7 mm, an increase of 70%, and the terminal positioning error is reduced from the maximum standard deviation before compensation to 0.652 mm/0.319 mm, which improves the terminal absolute accuracy and control stability of the robot.