Robot Complex Surface Grinding Based On Hybrid Force/Position Control

With the development of society,people put forward higher requirements for the quality and performance of industrial products,which brings new challenges to the work tasks in the field of production and manufacturing,and embodies an important index of high quality and high performance of products.In the process of manufacturing,grinding,polishing and deburring have become an urgent production process to be improved.Traditional grinding methods often use manual grinding,which has a long production cycle,poor processing quality and other deficiencies.And caused great harm to the health of workers.Robot grinding method can overcome the manual grinding method.In order to ensure the precision of grinding and machining of robot,the kinematics and control law of robot are analyzed,and the control scheme of force / position mixing of industrial robot is established.From the theory to the simulation experiment,the realization method of the robot force / position hybrid control scheme is discussed in detail.This paper expounds the background of industrial robot grinding,briefly introduces the domestic and foreign research status of industrial robot grinding and the difficulties existing in the present research.The engineering significance and research method of this paper are pointed out.The KR16-2 of KUKA robot in Germany is modeled,the D-H parameters of KR16-2 and the pose transformation matrix of each joint are established.The forward and inverse kinematics equations of the robot are solved.The trajectory of the robot's end actuator is planned,and the motion of the end actuator is converted into the motion of the rotation angle on each joint.The dynamic model of the KUKA robot is analyzed,and the robot's every pass is obtained.The relationship between the motion of a section and the moment applied to it.The basic principle of the force / position hybrid control is introduced.The grinding task of the robot is controlled in two orthogonal directions,and the selection matrix is used to convert the force control and the position control.This paper introduces the concept of tracking differentiator,designs a force control method based on tracking differentiator,further improves the precision of force control of robot,and makes the contact force of robot end actuator more stable.Finally,the combined simulation of ADAMS virtual prototype and MATLAB is used to obtain the force change curve of the end actuator of KUKA robot and the kinematic change curve of each joint.The feasibility of the hybrid force / position control method is verified by simulation experiments.