玻璃切割机器人刀头控制方法研究

A CUTTER CONTROL APPROACH OF GLASS CUTTING MANIPULATOR

本文针对玻璃切割机器人的工作特点,采用拖后刀轮设计,巧妙地避免了对刀头的力控制,在保证切割精度的前提下简化了系统设计.文中对这一刀头设计进行了理论分析,证明了它的可行性并给出针对这一设计的轨迹规划与补偿方法,实验结果表明理论与实际是吻合的.

This paper presents a rear cutter scheme for glass cutting manipulator to avoid force control of cutter. This scheme is proved to be effective by theoretical analysis and practical cutting. The cutting force compensation and trajectory planning are also introduced. Experimantal results demonstrate that theory analysis and practice are well coincident.