Research On The Robotic Automatic Grinding And Polishing Control For Complex Curved Surface

In today’s society, manufacturing technology level has become an important mark of national economic development. Surface grinding and polishing in manufacturing is mainly finished by manual processing of skilled workers, not only the production efficiency is low, but also the processing quality is not very good; Meanwhile the process of noise and dust will cause harm to human body. The realization of robot control system of automatic grinding and polishing is of far-reaching significance to improve production efficiency and reduce labor intensity, guarantee the machining quality. This thesis takes Shenyang Institute of Automation Chinese Academy of Sciences, Beijing Institute of Aerial Materials cooperation project:"The Technology of Automatic Grinding and Polishing Based on Complex Curved Surface for Transparent Part" as the background, A study is conducted on design and implementation of automatic grinding and polishing robot control system.The domestic and foreign research status on grinding and polishing robot system is described in this thesis. Combining the characteristics of free curved surface, this thesis builds the processing platform with KUKA robot as main body, provides a hardware foundation for processing system. Communication solution is the software core of whole system, which is composed of non-real-time communication and real-time communication two parts. Real-time communication mainly includes communication between PC and force sensor and communication between PC and robot communication two parts. Non-real-time communication mainly refers to programming parts of the operator.This thesis introduces a standard data exchange document IGES between different softwares. The parameter surface model is sent to CAM system through IGES. We can make3d reconstruction of surface through the data acquisition and data processing.According to the characteristics of the free surface workpiece, we can make a planned path for robot processing. Through comparing isometric cut plane, isometric parameters as well as several methods of traditional method based on the surface, this thesis finally adopt the better fitness method for surface:Hilbert path planning method.During processing course, As the end of the robot having contact with the workpiece, the system uses active and passive compliance control structure to control the robot. Meanwhile this thesis designs a steady and rapid internal model controller and sliding mode controller, and makes an in-depth analysis and research on tracking performance of two controllers.