| With the rapid development of the precision manufacturing industry such as aviation,abrasives,ships and automobiles,the requirements for the precision and appearance of products are becoming higher and higher,making the intelligent grinding operation more and more widely used in modern manufacturing industry.Industrial robot work occupies an important position in intelligent manufacturing production line,the location of the traditional control robot often cannot meet the requirements of high precision operation task,so it is necessary to introduce in the robot control force control system,improve the control precision of the robot,and the contact force control to achieve smooth constant force of the industrial robot polishing.In this paper,an industrial robot constant force grinding system based on force control algorithm is designed,which consists of hardware such as robot body,sixdimensional force sensor,pneumatic grinding machine,electric proportional valve,constant force grinding device,robot controller and PC.According to the structure and performance requirements of the grinding robot control system,the structural design and experimental platform construction of the industrial robot constant force grinding workstation was completed,and the constant force grinding device was designed according to the requirements of constant contact force during the grinding process.The force control algorithm involved in the system is based on fuzzy PID control.The six-dimensional force sensor is used to collect the external force signal received by the end of the robot as input,and the constant force grinding device installed on the end flange of the robot is used as the output.The additional force signal conversion module,the filtering module and the gravity compensation module in the control system process the collected analog signals to obtain the actual contact force between the grinding tool and the workpiece;then establish a mathematical model for the system,based on the established mathematics of the MATLAB The model is simulated and verified to verify the feasibility of the force control algorithm.Finally,using KEBA's CP263/X controller and KeStudio development software,the system force control algorithm,operation interface and command program are designed and developed,and the software realization of industrial robot grinding force control algorithm is completed.The superiority of the designed grinding force control algorithm is verified bycomparison test.Different contact force is set on the system to verify the stability of the range of contact force during the grinding process.The accuracy of the grinding force control algorithm is verified on the side.Finally,the roughness of the workpiece before and after grinding is compared to verify the feasibility of the grinding control algorithm of the system.The force control algorithm of the system can realize the smooth position compensation during the grinding process,and ensure a constant contact force between the grinding tool and the workpiece,thereby completing the constant force grinding operation of the robot for the smooth control of the workpiece.The system can not only meet the requirements of constant contact force control during the grinding operation,but also take into account the flexibility of the robot and can grind large and complex curved workpieces. |
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