Research On Force Control Method Of Industrial Robot Engraving Processes

In recent years,the industrial robot industry has become a hot spot in the domestic manufacturing industry.Using the robot engraving to replace the traditional hand carving not only reduces the enterprise operation cost,but also shorts the gap of high-end manufacturing.In the process of engraving,the size of the engraving force directly affects the service life of the tool and the machining precision of the work-piece,so the control method of the robot engraving process has important practical value.According to meet the actual carving process,the main work includes the construction of carving cutting force model,simplified space switching speed control,and research on PI control of the engraving process,by using St?ubli-TX90 robot as the research object.The main work of this thesis is described as follows:1.This paper introduces the robot engraving system including St?ubli industrial robot,a force detection and acquisition system.MasterCAM,Robotmaster and St?ubli Robotics Suite control software are simply described.The practical problems are explained in the robot engraving process.So,the force control method of the robot engraving processes is studies.2.The cutting force is analyzed,and its model is simplified in the engraving processes.The cutting force model is established by using the least square regression algorithm,and the cutting force model is verified by experiments.3.The switching control of the process that industrial robot from the free space to the constrained space is discussed.In the process the collision problem is described.The planning curve of each control method is compared in the experiment,and the advantages and disadvantages of each control method is analyzeds at the same time.4.In the robot engraving system,force control is discussed.In the experiment,the PI controller of the robot engraving system is designed based on the relay type PI self tuning method,then the experiment process is analyzed.5.Building a car model as the object of robot sculpture in MasterCAM,the space switchcontrol and the PI control algorithm are added to the robot code to control the force in the the robot engraving process.6.Finally,the innovation and the shortage of force control is summarized,and some contents needing to be improved is put forward.