Force Control Of The Robot Surface Tracking And Its Experment Reserch Based On Six-axis Force Sensor

It is well known that in the industrial production process, it must control the contactforce between the robot and the environment, making the robot, in the environment, adaptto the contact better. Therefore, robots require to increase the force sense control systemand to make them have a better ability to conform to the external environment, therebyimproving the production efficiency and quality of the product greatly. Based on thegrinding and polishing work of robots in industrial production, this paper puts forward acurved track motion model and on the dimension of six-axis force sensor using stiffnesscontrol method, realized the surface tracking experiments. Finally, the experimental resultsverifying the effectiveness of the stiffness control and expand the application field of thesix-axis force sensor. In the field of the theoretical guide, for parallel connection robots inthe industrial production, especially in the special operation force control, this paper has asignificant meaning. The content of the specific researches are as follows.First, make a in-deep analysis of the surface force tracking control theory. Accordingto the changes in the contact force of the robot in curved track movement process, thispaper formulates the force control scheme of the curved track movement and puts forwardthe method that robots can adapt to the control method actively. Then, give the parallelrobots stiffness tests; get the result of the stiffness matrix, achieving the stiffness control ofparallel robots.Second, design the overall structure of the curved track force control system. In thedesign process, the author chooses the6-PUS/UPS parallel robots as the executive body ofthe system, using the overall pre-parallel six-dimensional force sensor as the executivebody of the system, which structures entire control platform. According to the differentfunctional requirements of the system, using Visual C++6.0development initiativeresilience control software systems, According to the different functional requirements ofthe system, this paper uses Visual C++6.0development initiative resilience controlsoftware systems. This system includes the system to monitor the force control interfaceand sensor data collected as a software development platform and so on. The series of systems can dispose the data that collected by the sensor and ultimately turn data into thefinal command to achieve the control of the robot. The development of this softwaremakes the solid foundation to the all the surface tracking force control experiments.Finally, test the stability of the whole system by the resilience active control system,and verify it. This paper programs the moving track of the trajectory planning, using thiscontrol system to control parallel robot that makes them do the curved track moving. Inthis process, the author saves the data in real time and keeps the force constant contact.Though the analysis of the data, it is verify the validity of the force control algorithm andthe feasibility and effectiveness of the whole control system.