Compliance Operation Strategy Of Curtain Wall Installing Robots Based On Force Control

With the rapid development of urbanization process in China,more and more large-scale high-rise buildings begin to be widely used in various industries.With continuous improvement of people's aesthetic requirements,the construction decoration industry,which takes the installation of the curtain wall and slab as characteristics,is in a stage of vigorous development.Because of the low level of automation and intelligence of the whole construction industry,the human is still the main part of the industry,which causes frequent safety accidents and thus brings great loss to our country.Based on the above features and driven by the real estate market transition and "Made in China 2025",constructing automation and intelligence will become the inevitable trend.Curtain wall installation robot as the important embodiment of construction automation,has huge development potential,but its practical application is still restricted by the security and stability of control system and the flexibility of operation.This thesis takes 6-DOF series curtain wall installation robot as object,using the force control algorithm based on impedance control for its compliance operation system research.Firstly,kinematics and dynamics analysis and simulation are studied.D-H method and Lagrangian mechanics analysis method are used to establish the relevant kinematics and dynamics equations.Combined with equations and characteristics of linear movement of the end of curtain wall installation robot,the robot space trajectory planning algorithm is summarized.And through Matlab robot toolbox and experiments on robot,the feasibility of the algorithm gets verified,laying a foundation for the force control research.Secondly,according to the curtain wall installation compliance operation strategy based on impedance control,the simplified model of the arm and forearm of curtain wall installation robot is chosen as research object,which is respectively analyzed by basic impedance control theory and adaptive impedance control theory to set up mathematical model and control structure diagram.Combined with the process and characteristics of wall installation,the whole movement process can be divided into free movement space and environment contact space.Moreover,with Matlab/Simulink simulation platform,the simulation about space straight line,space curve and environment contact is carried out and the impedance control parameters adjustment is discussed.Then through discussing the influence of impedance control parameters on system performance index and comparing two kinds of force control algorithms,a set of force control algorithm about curtain wall installation process is summarized.According to the change of prestressing force for different wall installation requirements,the adjustment method of impedance control parameters is discussed to avoid the damage of curtain wall caused by the peak of contact force.Finally,according to the robot motion control system,the experiment about related compliance operation in free movement space is carried out.The experiment gets favorable properties of location tracking and smooth operation by data analysis through laser tracking device and six-axis force sensor,which proves that this method is reasonable for the compliance operation of curtain wall installation robot and guarantees the security and stability of control system.