Research On Coordinated Hybrid Force/Position Control Technology Of Dual Robot

With the development of science and technology,people's demand for industrial robots is not limited to repetitive motion after pre-teaching.Precision machining and other wider applications put forward higher requirements for robot control.For complex multi-link system such as serial robot,there are many unknowns for the control of coordinated and hybrid force / position.Taking two KINOVA Gen3 robots as an example,the DH parameter method is used to model the two robots for the coordinate transformation matrix of the dual robot end effector to the base by using the robotic toolbox of MATLAB.Then,aiming at the anticollision problem of the coordinated planning of the two robots,the working space is divided into several spatial grids,and the Boolean operation is used to predict the motion of the two robots,so as to effectively prevent the occurrence of the collision problem during the movement of the two robots.The Lagrange multi-body dynamics theory is used to model the dual robot dynamics.It not only provides support for the current value of each joint before the robot moves,but also provides a theoretical basis for the change of the current required by the joint in the force control.The two-step decomposition method is used to decompress the force / position control of the serial robot in the two dimensions of joint space and time space.The position control uses PID controller based on Lagrange dynamics which effectively reduce adjustment time.When it comes to the fine-tuning control of force feedback,the force error outside the jitter force range in the static polishing state is to adjust the output of torque in the form of multiple accumulations and average value.Make the robot polishing according to the expected polishing force.The result shows that the polishing force curve under the hybrid force/position control meets the expected control requirements.Finally,the surface profile of the workpiece before and after polishing was analyzed,and the measured surface roughness decreased from Ra984.39 nm to 147.97 nm.