Research On Grinding Robot Control System Based On Force Feedback

The development of robot technology,making a large number of robots are applied to industrial production,artificial grinding is also gradually replaced by robots automatic grinding.This paper constructs a grinding robot control system by force feedback,aiming at controlling the contact force in the process and improving the quality of grinding.In this paper,the force / position control algorithm is studied,the grinding control scheme is designed,and the robot grinding control system is built to realize the constant grinding of the contact force.The factors influencing the precision of grinding are analyzed,and the constant control strategy of grinding is proposed.For the process of the robot end and the workpiece,a mathematical model of the terminal displacement and contact force is established.Under the closed robot controller,only the terminal displacement can be controlled and the impedance control algorithm is introduced to realize the indirect control contact force.And the effects of different target impedance parameters are analyzed.The adaptive impedance control model is established by estimating the environmental position and stiffness,and verify ability of the control strategy to adapt to the environment by simulation.The grinding control scheme is studied,and the grinding force is constant by adjusting the end grinding path in real time.The attitude transformation process of the end grinding tool is analyzed,and the realization process of the grinding point control strategy is designed.According to the characteristics of grinding,the paper puts forward the force control scheme based on the experimental grinding track.A single point cycle grinding control flow is designed to solve the problem of parameter fixation in impedance control model.Based on the current grinding point position correction,the next grinding point position compensation trajectory adjustment strategy,designed the adaptive impedance process.A control scheme is proposed to estimate the grinding trajectory of the unknown contour,and the control process of grinding is designed.Construction of robot grinding experiment platform.Built the hardware system,designed the end of the grinding tool clamping method.Written the software system,the communication scheme between the systems is established,and the running process of online location correction and real-time information processing is designed.The experiment of grinding force control of robot is studied.According to the grinding process parameters,designed the single factor test to verify the influence of the process parameters,and the formula of grinding depth and force is deduced.The response experiment of the robot to the displacement is designed to control the normal velocity of the robot,and the relationship between the offset and the normal velocity is deduced.The reliability control experiment is designed to verify the effectiveness of the control strategy and control scheme.The force control experiment of the trajectory of the unknown contour is designed and the control scheme is feasible.