Research On Fiber Laying Technology Of Robot Arm Based On Force/Position Control

Carbon fiber placement technology of robot can realize composite material forming at low cost.Aiming at the problem that the accuracy of force and position in carbon fiber placement task seriously affects the quality of formed products.The kinematics analysis and Jacobian matrix solution of carbon fiber placement manipulator are carried out.A method of carbon fiber placement based on impedance control is proposed.The upper computer control platform is developed to realize the control of the position of the laying head and the pressing force.The specific research work of this paper is as follows:Firstly,the kinematics analysis of carbon fiber placement manipulator is carried out.The forward and inverse kinematics model of the manipulator is established by the improved D-H parameter method.The Jacobian matrix of the manipulator task space is solved by the vector product method.The forward and backward solutions of the robot and the simulation calculation of Jacobian matrix are carried out by using MATLAB Robotics Toolbox,which is used for the subsequent impedance control algorithm simulation.Secondly,the impedance control principle and the impedance control model of the manipulator in contact with the environment are analyzed.The steady-state error in the impedance control is studied,and an adaptive impedance control method is proposed.Based on the software of MATLAB/Simulink,the simulation models of impedance control and adaptive impedance control of the manipulator are built,and the force/position control of the manipulator is simulated.The single variable method is used to study the influence of target impedance parameters on the control effect of impedance control algorithm.The simulation results show that the impedance control and adaptive impedance can effectively control the force/position of the manipulator.Then,the upper computer control system is developed based on VB,including force information acquisition module,impedance control module and communication module.The force information collected by the sensor is compensated by gravity,and the force and position information obtained are saved in real time.Finally,according to the process of fiber placement,the hardware platform of fiber placement is built,including industrial robot system,force sensor information acquisition system,and the simple fiber placement head is designed.The communication between the robot controller and the host computer is carried out to realize data transmission andacquisition.Wire laying experiments on plane and arc surfaces are carried out to verify the effectiveness of impedance control algorithm.