摘要
通过对抛光去除模型中关键参数的研究,并结合实验数据分析,得到柔性抛光过程中的理想姿态控制参数和理想线速度,建立了无干涉抛光过程数学模型.在此基础上,提出一种抛光工具的姿态控制算法,以保证抛光过程中,自由曲面工件各接触点处的抛光参数相同,并以工业机器人Motoman-HP20为对象,实现了理想的抛光头姿态控制.
The ideal attitude control parameters and linear speed were obtained in the flexible polishing process by studying the key parameters of the polishing removal model with the combination of experimental data analysis. The interference-free polishing mathematical model was established. Based on this model, an attitude control algorithms .for polishing tool was further proposed in order to ensure that the polishing parameters of each contact point on free-form surfaces of the workpiece were the same in the polishing process. The control algorithms for ideal attitude polishing head were realized with industrial robot Motoman-HP20.
出处
《浙江工业大学学报》
CAS
北大核心
2010年第3期237-241,共5页
Journal of Zhejiang University of Technology
基金
国家自然科学基金资助项目(50575208)
浙江省自然科学基金资助项目(M503099)
浙江省科技厅重点科研工业资助项目(2006C21041)
关键词
模具抛光
柔性
姿态控制
无干涉
mold polishing
flexibility
attitude control
interference-free
