Research On Fiber Placement Trajectory Planning And Force Position Control Based On Manipulator

Carbon fiber placement robots are widely used in the field of sheet metal production of aviation composite materials.Present paper takes the ABB IRB-4400six-degree-of-freedom industrial robot as the research object,and analyzes the kinematics of the carbon fiber placement manipulator.A fiber placement force control scheme based on adaptive impedance control algorithm and adaptive impedance control algorithm based on fuzzy theory is proposed.Then the trajectory planning and tracking algorithm of industrial robots are studied,and realize the control of the position and pressing force of the fiber placement.The specific research work of present paper is as follows:First,performe kinematics simulation analysis on the carbon fiber placement manipulator.According to the structural parameters of the ABB IRB-4400 robot,the coordinate system of each joint of the manipulator is established by the improved D-H parameter method,the pose matrix of each link is obtained.And then the simulation model and the forward and inverse kinematics model of the manipulator are established,and then use the MATLAB Robotics Toolbox to simulate and verify the kinematics model.Secondly,a control model is established based on the principle of adaptive impedance control and fuzzy theory.Aiming at the problem of force position synchronization control in the process of fiber placement,a simulation model of adaptive impedance control algorithm and fuzzy adaptive impedance control algorithm is built using MATLAB/Simulink platform to complete the position and force tracking of the end of the robotic arm in the motion space.And according to the simulation results,the adaptive impedance control algorithm and the fuzzy adaptive impedance control algorithm are compared and analyzed.Finally,complete the joint simulation verification of the adaptive impedance control algorithm.Based on ADAMS,the virtual physical model of the fiber placement manipulator is established,and the fiber placement trajectory planning of the space free-form surface is completed.Based on ADAMS and MATLAB,a joint simulation model of the force and position control of the manipulator is established to realized the simulation verification of the control algorithm of the fiber placement manipulator.This simulation meets the requirements of synchronization control of force and position,and lays the foundation for the application of force position control in the fiber placement robot.