工业机器人恒力抛光装置设计及控制算法研究

Design and control algorithm of constant force polishing device for industrial robot

抛光作业通常是由手动完成,且工作环境恶劣,劳动强度大,抛光质量依赖工人技能的熟练程度,采用工业机器人代替人工进行抛光作业成为必然的发展趋势。研究设计了气压式恒力抛光装置,配置的六维力传感器可以检测抛光作业力的大小,采用模糊PID控制算法实现了抛光作业接触力的恒力控制。搭建的工业机器人抛光作业系统试验平台,可以进行不同PID控制算法的比较和静、动态抛光试验,验证了工业机器人恒力抛光装置及控制算法的可行性和有效性。

Polishing operations are usually done manually,where the working environment is harsh,the labor intensity is high,and the polishing quality depends on the skill proficiency of workers.Thus,the use of industrial robots instead of manual polishing operations has become an inevitable development trend.In this paper,the pneumatic constant force polishing device was studied and designed.The six-axis force sensor could detect the degree of the polishing force,and the fuzzy PID control algorithm was used to realize the constant force control of the polishing contact force.In addition,the experimental platform of industrial robot polishing operation system could carry out the comparison of different PID control algorithms and the experiments of static and dynamic polishing,verifying the feasibility and effectiveness of the constant force polishing device and the control algorithm of industrial robots.