基于打磨机器人的力/位混合控制策略研究

Research on Hybrid Position/Force Control for Grinding Robots

根据打磨机器人作业对位置和力同时控制的要求,在分析了基于位置伺服力/位混合控制策略的基础上,对基于速度伺服的力/位混合控制策略进行了研究,对测量的力信号进行了滤波、重力补偿及传感器坐标系标定等处理,以提高所测力信号的抗干扰性和准确性。仿真结果表明:该方案可以满足打磨机器人对位置和力分别控制的要求。

Considering the fact that grinding robots ask for hybrid force and position control simultaneously,a velocity servo-based hybrid force/position control strategy was discussed to have force-measuring signal filtered,gravity compensation implemented and sensor coordinate calibrated so as to improve anti-interference capability and accuracy.The simulation results illustrate that this control strategy can meet grinding robot's demand for hybrid position and force control.