Research On Teaching Of Complex Surface Polishing System Based-on Industrial Robot

With the increasing of processing requirements, the shape of the work piece is becomingmore and more complex and diverse. The traditional manual polishing demands on theoperators highly and it is inefficiency too. It is become an inevitable trend that polishing robotgradually replaces the hand-polished. In most cases, the position and posture of the robot andsurface data of workpiece are unknown. So the teaching processing is very necessary beforepolishing processing. This article aims to obtain the precise data of position and posture in thepolishing processing by teaching control. Traditional polishing system is close andextensibility is poor, so a kind of rectangular coordinate robot with flexible actuator isprovided to establish the open polishing system. The main contents of this paper are asfollows:1. Introduction to polishing robot architecture; functions such as the trajectory and pathplanning, the teaching of information processing and transmission and teaching informationdisplay and preservation were analyzed.2. The three-dimensional Model of teach-contact was created; and the contact distortionin the different contact force was analyzed by the finite element analysis software of theNastran. According to the surface contact distortion, the value of contact force wasdetermined.3. Applying the idea of direct teaching, a kind of teaching model based on force controlwas established; the experimental platform for position control was build and the Micro-forceof the point contact process was analyzed.4. In order to get the acquisition step length under continuous trajectory teaching,predictor-correction algorithm was adopted; and adaptive fuzzy PID control algorithm was beused to keep the contact force constant,simulation result was provided.5. Programming under PC environment, achieving VB and MATLAB mixedprogramming of3D model display by COM technology; to get a robot posture informationand location data which were performed by offline processing and put forward the solution ofthe compensation processing data interpolation.The position of the path points and surface contact force information are main access tothe control of teaching object in the process of teaching. Compared with other polishingteaching systems, this system is more intuitive, fast and briefness to complete the teachingpurpose.