Weld joint polishing control system of teleoperation robot and design method and application of weld joint polishing control system
A remote-operated robot and control system technology, applied in the field of welding seam grinding control system, can solve the problems of high work intensity, poor grinding consistency, low precision, etc., and achieve the effect of eliminating disturbance, sensitive response, and realizing precise control.
Pending Publication Date: 2022-03-01
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
Due to the harsh environment of the manual method, the operation intensity is high, the precision is low and the grinding consistency is poor
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[0048] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0049] see figure 1 and Figure 6 , The present invention provides a welding seam grinding control system for a teleoperated robot. The system mainly includes a master robot, a slave robot, a camera, a master controller and a slave controller.
[0050] Such as figure 2 As shown, the master-end robot is a haptic device, preferably a Virtuose6D TAO haptic device in this embodiment, and a first...
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The invention belongs to the related technical field of teleoperation robots, and discloses a weld joint polishing control system of a teleoperation robot and a design method and application of the weld joint polishing control system of the teleoperation robot. The system comprises a master-end robot, a slave-end robot, a camera, a master-end controller and a slave-end controller, a first six-dimensional force sensor is arranged at the end part of the base; a second six-dimensional force sensor and a grinding disc are arranged at the end of the slave end robot, and the second six-dimensional force sensor is used for obtaining force and torque of the tail end of the slave end robot. The camera is used for collecting displacement of the end part of the master-end robot and the end part of the slave-end robot; each of the master end controller and the slave end controller adopts a generalized teleoperation four-channel control structure and comprises a sliding mode controller and a disturbance observer, and the generalized teleoperation four-channel control structures are used for transmitting force, torque and displacement; the sliding mode controller is used for controlling displacement and torque, and the disturbance observer is used for controlling disturbance terms. Accurate self-adaptive grinding can be achieved.
Description
technical field [0001] The invention belongs to the related technical field of remote operation robots, and more specifically relates to a welding seam grinding control system of a remote operation robot and its design method and application. Background technique [0002] The role of robots in processing is becoming more and more prominent. It has high flexibility, rich functions, and a large working space. It involves more and more fields, such as grinding, assembly, and polishing. Due to the complex and even dangerous working environment in the grinding process, it is not conducive to the operator's close-range operation, so the teleoperated robot working in an interactive mode has received extensive attention and research. [0003] The inner wall of the turbine has a large working space and a long processing cycle, and due to the error caused by the cladding process, the margin is not uniform, so that the processed surface and the ideal model have non-negligible errors. ...
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IPC IPC(8): B25J11/00B25J9/16B25J18/00
CPCB25J11/0065B25J18/00B25J9/1661B25J9/1689
Inventor 彭芳瑜王坤钰唐小卫闫蓉高志涛
Owner HUAZHONG UNIV OF SCI & TECH