Constant force control method and device for robotic abrasive belt grinding based on one-dimensional force sensor

Abstract

The invention discloses a robot abrasive belt grinding constant force control method based on a one-dimensional force sensor, which includes the following steps: according to the force analysis, the force mapping relationship of each coordinate system is obtained; Simplify the force mapping relationship between the contact force and the sensor coordinate system; establish a grinding dynamics model through the relationship between grinding deformation and grinding depth; design an adaptive sliding mode iterative control algorithm, and establish a force control model; according to the force mapping relationship and force control model, Design the force controller; through the feedback force, apply the force mapping relationship to calculate the normal force of grinding, and input it to the force controller to calculate the normal offset, and then transmit it to the control module; the invention makes the grinding force of the robot abrasive belt controlled in one It is carried out on the force sensor, which avoids the high cost of the multi-dimensional force sensor and reduces the control complexity; the application is simple, the parameter setting is convenient, and the error caused by the uncertainty of the belt grinding can be effectively compensated, which is suitable for actual grinding.

Description

technical field [0001] The invention relates to the research field of robot abrasive belt grinding force control, in particular to a robot abrasive belt grinding constant force control method and device based on a one-dimensional force sensor. Background technique [0002] As a finishing operation, belt grinding can both achieve high material removal rates and be used to improve the surface finish of components. When abrasive belt grinding is equipped with a multi-degree-of-freedom industrial robot, a flexible manufacturing unit can be formed, which is especially suitable for machining workpieces with complex geometric shapes on the surface, such as turbine blades or faucets, and avoids personal injury caused by the processing environment. Health problems, low processing efficiency, increasing labor costs year by year, poor stability, insufficient process consistency and other problems that often occur in the process of manual grinding and CNC grinding. [0003] Therefore, ...

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Problems solved by technology

Some scholars have also proposed adaptive impedance control, through direct and indirect methods, so that it has a better force tracking effect when the environmental parameters are unknown, but too many adaptive gain parameters in the adjustment process are not conducive to the actual Applications

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