基于动态系统和阻抗控制的恒力打磨方法

Constant force grinding method based on dynamic system and impedance control

针对精密打磨中存在的振动力影响精密打磨精度的问题,提出了一种基于动态系统和阻抗控制结合方式的恒力打磨方法。在工业机器人的许多应用场景中,要求机器人不仅要与环境接触,还要控制其接触力的大小。阻抗控制可确保机器人可以在预定轨迹上保持稳定的接触力,位置控制器则可用于调整机器人的运动,动态系统的调制将运动空间划分为不同子空间,通过不同空间的速度调制减少接触过冲,改善工件加工精度。通过打磨力在平面和曲面的实验的评估表明,提出的这种控制器可以实现低接触振动和可靠的位置/力控制。

Aiming at the problem that vibration force affects precision of precision grinding,a constant force grinding method based on dynamic system and impedance control is proposed.In many application scenarios of industrial robots,the robot is required to not only contact with the environment,but also control its contact force.The impedance control can ensure that the robot can maintain a stable contact force on a predetermined track,and the position controller can be used to adjust the robot’s movement.The modulation of the dynamic system divides the motion space into different subspaces.Through the velocity modulation in different Spaces,the contact overshoot can be reduced,and the workpiece processing accuracy can be improved.The experimental evaluation of the grinding force on the plane and the surface shows that the proposed controller can achieve low contact vibration and reliable position/force control.