Design Of Control System For Composite Material Pipeline Grinding Robot Workstation

With the rapid development of the high-tech materials industry,the processing requirements for non-metallic composite pipes are also increasing.In practical applications,the joint end of the composite pipe needs to be surface-polished.At present,the production enterprises still adopt the artificial grinding method with low efficiency,poor grinding quality and low flexibility.In order to improve the grinding quality and processing efficiency,this paper designs a set of robotic grinding flexible control system with high grinding precision and constant force grinding function,and analyzes and studies the robot's active compliance control strategy in detail.This paper first studies the planning problem of robot polishing the desired trajectory.The mathematical model of the robot's D-H and the coordinate system of each joint and the end effector of the grinding robot are established.The matrix of the end effector gravity compensation model is transformed,and the kinematics and dynamics analysis of the robot end effector are performed.The kinematic equation based on the robot is established.Use the quaternion method to plan the desired trajectory.The constant force grinding control algorithm of the robot is studied.The impedance control equation is derived based on the robot dynamics equation,and the impedance controller is designed and simulated.Aiming at the problem of poor impedance tracking effect of impedance control,this paper designs an adaptive impedance control system based on Lyapunov stability theory,establishes a robot grinding operation simulation model for the system's constant force stable tracking performance,and analyzes the system performance of the control system.The steady-state error verifies the correctness of the analysis of the adaptive impedance control algorithm and proves the effectiveness of the active compliance control of the grinding robot system.An experimental platform based on KUKA robot is built,and the hardware system and software system of the workstation are designed to complete the software system program architecture.Develop the PC application software and write a real-time communication scheme between the underlying motion control program and the design software.The constant force grinding experiment of the surface of the robot composite pipe is completed.It is verified that the designed robot constant force grinding strategy can effectively improve the working efficiency of the composite pipe,improve the surface grinding quality,and realize the active flexible control method of the control system.