机器人打磨系统控制技术研究

The Control Technology on Robotic Grinding System

通过机器人完成产品的磨抛是新的趋势与热点,但普遍存在轨迹修正与力控制等方面的技术难点。为此构建了一套机器人打磨控制系统,提出了机器人力/位控制方法,利用三维力/力矩传感器实时进行打磨力信息的采集、补偿与反馈,通过解析力/位函数,实现法向偏置补偿。通过搭建试验平台并进行实验验证,表明控制方法可行,作业效果良好。

Grinding and polishing by robots is the new hot trend,but trajectory correction and force control are the general problems.In this paper,an own control system of robotic grinding is developed based on the research of it.According to the actual requirements,a force/position control method is put forward by using three-dimensional force / torque sensor,which is responsible for the collection,compensation and feedback of grinding force.By resolving the function on force / position,making compensations to normal comes true.Finally,I set up the experiment platform and make verification,what shows that the control method is feasible.The effect of operations is good.