基于阻抗控制的机器人砂带打磨的建模与仿真

Modeling and simulation of robotic belt grinding based on impedance control

针对六自由度机器人砂带打磨作业,基于力跟踪阻抗控制方法建立了一种机器人砂带打磨样机系统.首先,考虑实际打磨过程中砂带以及接触轮的弹性形变和刚度时变等特点,根据Hertz弹性接触理论建立了连续接触力模型.进而,分析砂带打磨过程的刚柔耦合关系,设计了一种具有自适应补偿的力跟踪阻抗控制器,补偿接触时砂带的形变量.然后,依据砂带的材质特点,运用模态中性文件法创建砂带柔性体,在此基础上,在Adams中建立机器人砂带打磨的虚拟样机.最后,利用Adams和Matlab搭建机器人砂带打磨联合仿真平台;仿真实验结果表明该样机能够较好的满足对力控制的要求.

Arobotic belt grinding prototype system is established based on the force tracking impedance control method for the six degrees of freedom robotic belt grinding operation.First,using Hertz elastic contact theory,the continuous contact force model is established considering the elastic deformation,time varying stiffness and other factors of the belt and the contact wheel in actual grinding processes.The rigid-flexible coupling relationships are then analyzed in belt grinding process.A force tracking impedance controller is designed,which can adaptively compensate the contacting deformation of belt with work piece.Then,a model of flexible belt is created by using modal neutral file(MNF)according to the material characteristics of belts.On this basis,the virtual prototype of robotic belt grinding process is constructed in Adams.Finally,a co-simulation platform for the control system of robotic belt grinding is built by Adams and Matlab,and simulation results show that the prototype can meet the requirements of force control.