Research On Control Algorithm And Trajectory Planning Of A Constant Force Grinding Robot For Castings

With the rapid development of industry,robot technology has gradually been applied to various aspects of production.However,in the direction of casting polishing,manual polishing is still the main method,which is inefficient.This article designs a constant force grinding system for casting risers,and analyzes and studies it from two aspects: control algorithm and trajectory planning.Based on this,the feasibility of the system’s constant force grinding is verified through experiments.The main research content of this article is as follows:First,the polishing process and kinematics of the polishing robot are analyzed.Introduce the surface riser of castings and design a polishing system.Use robot teaching to obtain surface information of castings,analyze the force on the polishing process based on this information,establish the relationship between normal pressure and grinding depth,and provide a basis for constant force polishing control;The kinematics of the robot is analyzed,which lays the foundation for polishing trajectory planning.Secondly,compare the constant force control algorithm for casting polishing.Calculate the gravity compensation value of the end effector and output force based on this preset.Based on research on PID control and fuzzy control,a new combination of fuzzy PID hybrid control,fuzzy adaptive PID control,and improved fuzzy PID control was developed.Three control algorithms were simulated and analyzed,and the most effective improved fuzzy PID control was selected as the constant force control method for casting polishing.Then,based on the improved particle swarm optimization algorithm,the grinding trajectory is optimized.Detected spatial obstacles,established obstacle models,and determined collisions;Plan the trajectory of the polishing robot in a multi obstacle environment and when polishing the riser;Among the three trajectory planning methods,choose the "3-5 3" polynomial interpolation method to plan the grinding trajectory;The elementary particle swarm optimization algorithm is improved by using the initialization of the best point set and the introduction of the adaptive exponential penalty function.Finally,an experimental platform was established and constant force control experiments were conducted,proving the feasibility of using improved fuzzy PID control as a constant force control method for casting polishing.The constant force control polishing experiment was conducted on the surface riser of the casting,which verified the feasibility of using the improved fuzzy PID control as the constant force control method for casting riser polishing.