Research On Force And Position Hybrid Control Method Of Macro And Micro For Grinding And Polishing Robot

Grinding and polishing is an important processing technology in the manufacturing process,which is directly related to the overall performance and appearance of industrial products.With the rapid development of industrial robots,the use of robots for automatic grinding and polishing has become an urgent demand of the manufacturing industry,because of manual grinding and polishing will cause great harm to the physical and mental health of workers.In order to ensure the quality and efficiency of grinding and polishing,the force control technology of grinding and polishing robot system needs to be developed.This paper studies and realizes the grinding and polishing robot system.According to the requirement of grinding and polishing,the hybrid control algorithm of force control end effector and robot force position is studied.The macro-micro motion control strategy is designed on the grinding robot system,and the effectiveness of the algorithm is verified by the grinding robot platform built independently in the laboratory.The function of estimating the millimeter level surface topography of unknown-surface workpiece while keeping the contact force constant is realized.The robot grinding and polishing process is analyzed,and the existing robot grinding and polishing process is studied.Aiming at the time-consuming and low efficiency of trajectory adjustment in the existing robot grinding and polishing applications,a grinding and polishing robot system with force control function is designed.The force condition of the robot end force sensor is studied.The system parameters and environmental parameters of grinding and polishing robot can be calibrated,through the analysis of sensor data.By introducing the acceleration of the end effector and the industrial robot,the dynamic inertia compensation of the macro micro robot system parameter calibration process is carried out,and the influence of the sensor zero point,noise and tool gravity on the measurement results in the grinding process is eliminated.A hybrid control method of macro micro force and position for grinding and polishing robot is proposed,by the active compliant motion process of macro micro robot is discussed.Through the cooperative movement of industrial robot and end effector,the macro micro motion control model of robot is determined,and the grinding scheme is introduced to design the hybrid control method of macro micro force and position.Combined with the grinding robot system scheme,adaptive impedance model and force position hybrid control model,the impact control and compliance control strategies are established,and the simulation and experiment are carried out.The control system of grinding and polishing robot is constructed.Hardware selection and software system development are carried out,which are based on the overall scheme of grinding and polishing robot.By combining the force control algorithm with the robot motion control system,the secondary development is realized on the existing robot.The experimental results show that the hybrid control method is effective.In the process of grinding and polishing,the movement curve is consistent with the surface morphology of the workpiece,and the contact force is stable at 10±3N.The grinding and polishing system with force position control only needs a simple teaching trajectory,and the robot can achieve more accurate position tracking and force tracking,which provides a reference for the grinding and polishing robot to realize the machining of complex surfaces.