An Improved Control Method for Heavy-duty Truss Robot

Xin DING, Suo-huai ZHANG, Meng-jie ZHU


The heavy-duty truss robot runs unsteadily, has large dynamic impact and low motion precision in the working process. In order to improve this phenomenon and work efficiency, an improved speed control method based on quintic function velocity curve is adopted and verified by numeric simulation software. The simulation results show that the quintic function velocity control curve has a gentler acceleration than the traditional S-curve and sinusoidal curve control method, and the acceleration value has been significantly reduced. The small change indicates that the truss robot based on this algorithm runs more smoothly and works more efficiently. In addition, the quintic function speed control curve has lower requirement for the required motor torque, which is also conducive to cost savings during object handling.


Heavy-duty robot, Dynamic characteristics, Control mode, Numeric simulation.


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