Device and method for active compliance control for XYZR four-axis drilling robot

Abstract

The invention belongs to the field of robot control, and particularly relates to a device and a method for active compliance control for an XYZR four-axis drilling robot. The device comprises a main control module, a servo drive control module and a human-computer interaction module, wherein the main control module is mutually connected with the servo drive control module, and is further mutually connected with the human-computer interaction module. The device disclosed by the invention is complete in function, clear in function, simple to realize and low in module coupling degree; the synchronism and smoothness of system motion are realized simultaneously; and an active compliance control decision module is independently designed, complex modelling for a feeding process of a drilling machine, and an unsupervised and regular repeated cohesion experiment are avoided while the related data in the feeding process of the drilling machine is acquired, the need of online use of expensive acceleration section sensor and force sensor for each robot is avoided, the cost is saved, the unstable factors introduced by online adjustment for control parameters, and a system downtime process are avoided, and a switchover mechanism for kinematic position control and active compliance force control is reasonable.

Description

Technical field [0001] The invention belongs to the field of robot control, and in particular relates to an active compliance control device and method for an XYZR four-axis drilling robot. Background technique [0002] At present, the mechanism design of luggage drilling robots often adopts traditional robot mechanisms, such as gantry robots, three-axis XYZ rectangular coordinate robots, four-axis XYZR drilling robots, and six-axis articulated robots. The robot control system often adopts kinematics-based control schemes. , That is, work with the drilling position as the control target, and it is more suitable for drilling in thick plates or blocks and other non-deformable metals, plastic plates, acrylic plates and other materials. [0003] The active compliance control mechanism in the existing research relies on six-dimensional force sensors to detect force and torque, relies on machine vision sensors to detect the current pose of the robot, and designs a position / force hybrid c...

AI Technical Summary

Problems solved by technology

[0004] Drilling robot based on position control adopts kinematics-based control scheme when drilling thin sheet-shaped deformable metal, and works with the drilling position as the control target, and the force and acceleration of driving the drill fluctuate greatly during the control dynamic process , It cannot be maintained at a reasonable specific time-varying value, so it will lead to deformation of the drilling object, damage to the hole shape, and excessive burrs to be unqualified; the current active compliance control scheme is mostly suitable for workplaces where the surface is in contact and a specific pressure needs to be maintained , it is not suitable to be directly applied to the workplaces that penetrate the surface of materials such as drilling; the current active compliance control schemes mostly use expensive force sensors as force detection devices, and the cost is relatively high

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