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Curved surface contour constant force tracking method and application device based on nonlinear double closed-loop control

A double closed-loop control, surface contour technology, applied in the direction of program control, computer control, general control system, etc., can solve the problems of complex mechanical structure, accuracy interference or noise, etc., to achieve the effect of simple, effective and easy to implement.

Active Publication Date: 2019-10-18
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the use of auxiliary devices can increase the flexibility of the robot, its mechanical structure is more complicated; Kazuo Kiguchi [2] In the task of robot tracking workpiece with unknown curved surface, a method of fuzzy force vector is proposed to determine the direction of force control in force / position hybrid control
The fuzzy vector method can determine the range of force control direction, but its accuracy is affected by sensor interference or noise

Method used

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  • Curved surface contour constant force tracking method and application device based on nonlinear double closed-loop control
  • Curved surface contour constant force tracking method and application device based on nonlinear double closed-loop control
  • Curved surface contour constant force tracking method and application device based on nonlinear double closed-loop control

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Embodiment Construction

[0044] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0045] Realize the application device of the present invention based on the nonlinear double-closed-loop control surface contour constant force tracking method, such as figure 1 and figure 2As shown, it mainly includes the control part and the mechanical part; the control part includes: PC host 1, embedded motion controller 2, terminal board 3, signal amplifier 4, three-dimensional force sensor 5, servo driver 6, and the mechanical part includes: three Coordinate drive and transmission mechanism 7, workbench 8, sensor clamping frame 12, processing tool 13, workpiece fixture 15 for clamping curved surface workpiece 14.

[0046] The three-coordinate drive and transmission mechanism 7 of the present invention is composed of three direction motion mechanisms of x-axis, y-axis and z-axis respectively. On the ball slider 16 of the motion mechani...

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Abstract

The invention discloses a curved surface profile constant force tracking method based on non-linear double closed loop control, and the method comprises the steps: according to a curved surface profile tracking motion model, force analysis is performed on a model of the contact force between a tool end and a work piece, a relation between an actual motion inclination angle and a normal contact force error and a double closed loop force control method can be obtained through the force analysis and a motion coordinate transformation formula; according to the double closed loop force control method, a control flow of a non-linear PID force controller and a non-linear PID control formula can be obtained, a motion controller can be adopted to control motion of three motion mechanisms in three coordinate directions, so that the tool end can track unknown curve surface profile motion with constant normal contact force. The invention also provides an application device for realizing the method, the device comprises a control part and a mechanical part, the control part comprises a PC host, an embedded motion controller, a terminal board, a signal amplifier, a three-dimensional force sensor, a server driver and a three-coordinate drive and transmission mechanism, and the mechanical part comprises a work rack, movement mechanisms in x, y and z axis directions arranged on the work rack, a sensor clamping rack, a processing tool and a work piece holder for clamping a curved surface part.

Description

technical field [0001] The invention belongs to the technical field of robot processing applications, and relates to an unknown curved surface contour tracking technology, in particular to a curved surface contour constant force tracking method based on nonlinear double closed-loop control and an application device. Background technique [0002] In the existing technology, the on-site application of the surface processing operation of the robot is mainly in the way of teaching and reproduction or offline programming. In this operation mode, the motion trajectory cannot be adjusted according to the shape and position error of the workpiece, the clamping error, and the robot positioning error. , thereby increasing the workload of teaching reproduction and off-line programming, and also reducing the degree of automation of robot processing operations, limiting the application range of robot processing. In robotic applications such as polishing, grinding, deburring, etc., the de...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/4099
Inventor 张铁胡广邹焱飚
Owner SOUTH CHINA UNIV OF TECH
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