Research On Architecture Of Teleoperation Machining System And Impedance Control Of Slave Manipulator

With the development of robotics and teleoperation technology,there is also a tendency to be gradually replaced by robots in some traditional processes that must involve workers before.In this paper,the robot of teleoperation machining architecture system is constructed,and the impedance control of slave manipulator is studied for controlling contact machining force in machining process.The purpose is to control the contact force in the process of machining.Based on the two-degree-of-freedom manipulator model,the control algorithm is studied,the corresponding contact force control scheme is designed,and the robot model simulation system and the corresponding manipulator platform are built to validate the control algorithm.In order to improve the processing accuracy,taking the polishing and grinding process as an example,the model of the process with force feedback shaking operation technology is built.There are analyzed that the principle of grinding and polishing,the contact force and displacement in the process of grinding and polishing,the corresponding control strategy,the structure of force feedback hand controller and the new magnetic meshing motor matching with it The manipulator model is established,the force mathematical model of the manipulator end and environment is analyzed.The basic impedance control algorithm is studied.Analyze and simulate the influence of each control parameter in impedance control algorithm on control system.Aiming at the problems of precise model and complicated selection of control parameters in the control system.The control stability of adaptive impedance is proved adaptive control and fuzzy control are studied and added to the impedance control.Build three-degreeof-freedom coordinate manipulator test-bed with multi-dimensional force-position detection function and the parameters of the sensors used were measured in practice.The control algorithm is validated on the manipulator platform,and the operation of the manipulator is analyzed.The research of this subject provides theoretical and experimental basis for the future research of force feedback teleoperation robot,and has practical significance for the further development and application of robot control.