机器人打毛刺系统模型参考自适应控制

MRAC theory based on robotic deburring

研究了一种模型参考自适应的方法来用于机器人除毛刺。在此设计中,引入前馈和反馈来控制砂轮的位置和砂轮与工件的接触力。应用此控制器可以使机器人去除未建模工件的毛刺。在每个操作点上,我们用一个二阶线性模型来逼近原始的非线性模型。仿真结果验证了本文所提出方案的有效性。

In this paper, MRAC theory is applied to robotic deburring. In this design, the feed forward and feedback controllers control the position and the contact force of the grinding wheel. Applying these controllers allows us to adapt the manipulator to the unknown surface of the workpiece and to remove the deburrs. We approach the original nonlinear system with a second order linear system at each operating point. Simulation results conform the feasibility of the proposed adaptive control scheme.