Research On Robotic Grinding System Control Technology

The development and application level of robots reflect the level of industrial development of a country and the national advanced technical strength. With the improving and rapid development of robot technology, traditional artificial grinding and polishing technology is facing the challenge of upgrading. The automation grinding technology and application of industrial robot has been becoming the trend of the current research. Due to the working characteristics and accuracy requirements of the robot grinding system, a control technology solution is built, key technologies of offline trajectory planning, force/position hybrid control and so on are deeply studied in this paper, the main research contents of the paper are as follows:(1) The composition of the robot grinding system and working process are analyzed. What’s more, the robot system and force sensing system are studied, which are the key hardware system.(2) The optimal trajectory planning method based on the robotics movement joints is studied. The offline grinding trajectory planning process is introduced. The characteristics of ring cutting and line cutting are analyzed through models. The best combination of robotics movement joints is drawn. Different contact force and critical overlap regions are analyzed. The best critical overlap project is chose. The motion path of robot is coupled, External TCP coordinate system is built and grinding information is obtained. And this method has been proven to be effective through simulation.(3) The control method and requirements of the system are analyzed, the design of the hardware configuration and the software system architecture is realized. The key technology is extracted, also the interruption of robot mechanism is used and sensor low-pass filtering scheme is designed. Force/position hybrid control technology is deeply studied, including the gravity compensation algorithm, force/position hybrid control algorithm and normal offset displacement algorithm.(4) The scene of the experiment is set and the critical overlap region of the experimental sample is planned. The orthogonal line cutting trajectory is obtained, and the control method has been proven to be effective, including PC software control and robot interrupt response. Due to the offline trajectory and force/position hybrid control, the control precision is analyzed. What’s more, the grinding control features and the whole plan are verified.