Research On Robotic Grinding Technology Based On Force Feedback Control

With the rapid development of economy and the continuous improvement of the level of science and technology,the development and training of science and technology and talents are continuously carried out among countries all over the world.Robotics,as a hot research technology,is widely used in the field of industrial automation.In grinding process,it is inefficient to rely on manual grinding,which is gradually replaced by robot automation.For the robot grinding process,the control of force is the key factor affecting the grinding quality.The position based weak control of grinding can not meet the machining requirements.In order to improve the grinding quality,the compliant force control technology must be introduced to meet the requirements.Based on the characteristics of industrial robot,this paper built an experimental platform,and carried out the grinding machine manpower control experiment on the experimental platform,which realized the constant contact force of the robot in the grinding process and improved the grinding quality of the grinding robot.Relevant work contents are as follows:Firstly,the modeling method of the grinding manipulator is introduced,and then the forward and inverse kinematics of the manipulator are solved respectively.The transformation of the dynamics equations of the robot in Cartesian space and joint space was derived,and the trajectory tracking controller was designed.The trajectory tracking experiment was carried out with a two-DOF manipulator model as an example.An impedance control system was designed.The steady-state error of the impedance control was analyzed.An adaptive impedance system was established,and the adaptive rate was adjusted by Lyapunov stability analysis.A grinding machine manpower control simulation system was built under Matlab/Simulink,and the influence of impedance parameters on the control system was analyzed.Constant force and sinusoidal force contact tracking simulation experiments were carried out on the impedance control system and the adaptive impedance control system,respectively,to verify the adaptability of the adaptive control system to environmental changes.Then the problem of coordinate calibration of the six-dimensional force sensor is analyzed,and the gravity compensation of the six-dimensional force sensor which provides force feedback information is carried out.The machine manpower control grinding system was studied,the hardware and software control system was built,the communication scheme between the systems was established,the stiffness parameters of the grinding workpiece were solved,and the theory of grinding trajectory planning was studied.The grinding contact force tracking experiments were carried out on the grinding robot along the initial point under the conditions of the force control strategy and the non-control strategy.The experimental results show that the force tracking accuracy is higher under the force control strategy,and the grinding force can be stabilized within the expected value range.