Research On Control Of Thread Of Composite Pipe Grinding Robot Based On Impedance Control

Composite pipe products has the advantages of light weight, high strength,corrosion resistance, strong design features and so on, it has been widely applied in the fields of petrochemicals, energy, medical and other industries, and plays an extremely important role. Currently, the world’s countries generally connect the two pipes by using the thread, however, whether can be processed the thread to meet the accuracy, the strength of the requirements is the key link that affects the assembly of the pipe body. At this stage, thread machining generally uses the machine tools to carry on the grinding operation. due to the limited operating space of the machine tool, the limited range of processing products, equipment versatility is relatively poor,the cost is higher, therefore, the use of industrial robots to replace the machine tool for the composite material pipe thread grinding operation is an important solution to the field of manufacturing. So, in the light of the above problems, the paper-based impedance control composite tube thread grinding robot control methods were studied.Firstly, in this paper, the basic principle of grinding is studied, and the force of the end of the manipulator and the measuring of the grinding force are analyzed. Real time correct the posture and keep the force constant at the same time. Then when the composite tube for thread grinding operations, for the binding and position control of the robot arm elements necessary requirements, we proposed a variable gain impedance control strategy. The method is based on analysis of the interaction between the robot and the work object, we can correct the reference value of the force in real time by changing the stiffness of the gain, then we can also ensure that the actual forces to stabilize the desired grinding force of the end of the manipulator arm. This method has a good robustness for the disturbances and errors arising from the external environment and other unknown factors. Based on the above method,we also give perfection and compensation for the control of the state of the robot grinding and system modification.Finally, we studied the pipe thread grinding control algorithm for the simulation experiment, and made the corresponding analysis about the influence of this method on the control performance by changing the control parameters simulation. The final results of the analysis show that the method has good stability, it can satisfy the requirements of real-time control of the robot, but also proved the effectiveness of the control strategies.