Research On Master-slave Control Method Of Force Feedback For Grinding Robot Of Casting Parts

The dissertation combines the actual engineering requirements of post-processing grinding of castings.In this thesis,a force feedback handle is used as the master operator,and the Tricept hybrid robot as the slave manipulator,the force feedback master-slave control strategy and implementation method have been deeply investaged.Firstly,based on the brief analysis of the mechanical structure of the force feedback handle,the kinematics model of the force feedback handle is established,the static model of the mechanism is established according to the virtual work principle.Secondly,based on the analysis of the configuration of Tricept hybrid six-degree-of-freedom robot mechanism,the kinematics model of the robot is established with the closed vector method,numerical iteration and D-H method adopted.Then,a master-slave following method based on position increment has been proposed.A robot trajectory planning and motion control method has been designed based on cubic B-spline.The motion control CK3 M is adopted and the algorithm is implemented based on the EtherCAT controller.A force feedback compensation algorithm has been proposed based on the static model and the force feedback algorithm,the STM32 microcontroller is used to implement the algorithm and verify the effectiveness.Finally,with the force feedback device as the master operator,the motion control system has been constructed by motion controller and servo motors which drive the slave Tricept robot.The force feedback master-slave control software has been developed using Lab VIEW and Power PMAC IDE software enviroment.The force feedback master-slave control algorithm and the robot motion control method have been verified by experiments,which provides technological foundation for the development of the force feedback master-slave control grinding robot.