Tracking Trajectory Research For Deburring Robot

With the development of manufacturing industry,industrial robot is becoming increasingly important in human production activities.The development of industrial robots alleviates labor shortage in a great extent.It is a trend to use robots instead of human to do same dangerous work.So it is a wise advice to develop the industrial robots.In recent years,the labor costs have been increasing.Some companies have to look for industrial robot,which can reduce the labor costs and improve efficiency.Some industrial robots have taken part in our life and processed products for us.The burr on the cylinder head of motorcycle was deburred by industrial robots is the example of industrial production.The type of this robot is ER50-C20 robot,which have 6 DOF.In the processing of machining,the first step is artificial teaching.Several control algorithms were used to track the artificial teaching trajectory.These control algorithm are compared by the software MATLAB.The different control algorithm should be chosen based on corresponding conditions.So the main work is as follows:(1).the burr on the cylinder head was cleaned using artificial teaching method,according to the distribution of burr on the surface of cylinder head.At the same time,the information of sample points will be feedback to the control systems,The trajectory of artificial teaching was obtained,this trajectory will become the reference of tracking trajectory.It is also the theory basis for subsequent processing.(2).When math model is not complicated,the math model should be built.the robustness iterative control algorithm is designed based on this math model.The artificial teaching trajectory was tracked by this control algorithms.The math model will be used to determine the number of iterations in MATLAB,the tracing trajectory will be simulated.The simulation show that the good tracking trajectory can be obtained by only a few iterative times using MATLAB software.(3).When the math model is difficult to built and the external disturbance factors are uncertain,the first step is to determine input and output of system.The experiencedatabase will be built by feedback data.So the Fuzzy PID control algorithm can be designed.The data and amount of workpiece will be read in the MATLAB,the data will be classified and analysised by MATLAB,the tracing trajectory will be simulated.The artificial teaching trajectory was tracked by this control algorithms.The good tracking trajectory can be obtained by choosing proper control rules.(4).When the external disturbance factors can be simplified as a big factor,which can be built using math models,the math model of external factor should be built.Comparing the math model and feedback data,the sliding mode control algorithm and the RBF neural network based on sliding mode control algorithm will be designed.These control algorithms and data will be read in MATLAB,the data will be classified and analysised by MATLAB,the tracing trajectory will be simulated.The good tracking trajectory can be obtained by controlling main disturbance factors.