Polishing and grinding force-position mixed control method and system

A technology of mixed control and grinding force, which is applied in general control system, control/adjustment system, adaptive control, etc., can solve the problems that cannot adapt to the development requirements of grinding and polishing robots, and achieve the effect of ensuring the grinding effect and improving the control accuracy

Inactive Publication Date: 2014-06-25
SHENZHEN INST OF ADVANCED TECH +1
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  • Abstract
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AI Technical Summary

Problems solved by technology

The existence and size of the contact force put forward new requirements for the control of the grinding and polishing robo

Method used

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  • Polishing and grinding force-position mixed control method and system
  • Polishing and grinding force-position mixed control method and system
  • Polishing and grinding force-position mixed control method and system

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Embodiment Construction

[0028] An embodiment of the present invention provides a polishing and grinding force-position mixing control method, including: a pressure sensor obtains the current grinding force Fc between the grinding tool and the workpiece; a comparator calculates the expected grinding force between the grinding tool and the workpiece The difference between Fd and the current grinding force Fc; the fuzzy controller uses a fuzzy control algorithm to output a control variable U to control the grinding force between the grinding tool and the workpiece according to the change rate Ec of the difference. The embodiment of the present invention also provides a corresponding polishing and grinding force-position mixing control system. Each will be described in detail below.

[0029] The basic flow of the polishing and grinding force-position mixing control method in the embodiment of the present invention can be referred to figure 1 , the method can be used to coordinate the grinding work of th...

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Abstract

The invention discloses a polishing and grinding force-position mixed control method and system so that control precision is enhanced when contact force is generated between a grinding and polishing robot and an external environment, and grinding force is ensured to be constant in the grinding process. The method comprises that: a pressure sensor acquires current grinding force Fc between a grinding tool and a workpiece; a comparator calculates a difference value between the expected grinding force Fd between the grinding tool and the workpiece and the current grinding force Fc; and a fuzzy controller outputs a control variable U to control the grinding force between the grinding tool and the workpiece according to rate of change Ec of the difference value by adopting a fuzzy control algorithm. The method provided by the embodiment of the invention can enhance control precision when the contact force is generated between the grinding and polishing robot and the external environment, the grinding force is ensured to be constant in the grinding process and thus the grinding effect is ensured.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a polishing and grinding force-position mixing control method and system. Background technique [0002] Robot is the product of the high-speed integration and integration of modern science and technology. It involves many scientific fields such as machinery, control, electronics, sensors, computers, artificial intelligence, knowledge base systems, and cognitive science. It is one of the most representative mechatronics technologies in the contemporary era. one. At present, the method of controlling the robot is mainly position control. For position control, first judge the error value between the current trajectory and the expected trajectory, and then determine the torque required by the driver based on the error value. The existing position control methods include calculation torque method, PID control method and adaptive method and so on. However, these position control met...

Claims

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Application Information

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IPC IPC(8): G05B13/00
Inventor 谢小辉赵彦植徐国卿
Owner SHENZHEN INST OF ADVANCED TECH
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