Control and drive unit design on end integral joint for dual arm robot
LI Kai xia1，3, DING Ling3, ZHAO Jiang hai1，2, HU Xiao juan3

(1.Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou 213164, China;2.Institute of Robotics and Intelligent Equipment Technology, Jiangsu Institutes of Industrial Technology, Changzhou 213164, China;3.Changzhou Institute of Advanced Manufacturing Technology, Changzhou 213164, China)

Abstract: Aiming at the intelligence problems of the end integral joint for dual arm robot, the control and drive unit on end integral joint for dual arm robot was designed, and the design principles and methods were induced and analyzed. With comprehensive utilization of CAN bus technology and sensor technology, and based on the digital signal processor DSP and the intelligent power module IPM, the system hardware was designed. Combined with advanced control theory and based on iterative learning control, the improved fuzzy adaptive tuning PID control algorithm was presented. The compliant control methods and implementation plans for the end integral joint were proposed. The prototype was designed and developed, and the closed loop control test experiments were carried out. The practices indicate that, the design meets requirements for the closed loop control on the end integral joint, has advantages including good stability, high reliability, compact structure, small volume and high integration, and improves the lightweight and intelligence design. It has important theoretical and practical value for the intelligence of the integral joint research on dual arm robot.

Key words: dual arm robot; end integral joint; DSP; IPM; fuzzy adaptive PID