Robot curved-surface cutting force control method for solving deformation problem of robot

Abstract

The invention discloses a robot curved-surface cutting force control method for solving the deformation problem of a robot. The robot curved-surface cutting force control method comprises the steps that a robot stiffness matrix is established according to the structure of a rectangular-coordinate robot cutting system, then a rigid impacting state and a stable cutting state in the cutting process are set according to the complex of robot cutting, and a robot impacting amplitude formula and a robot stable-cutting deformation formula are derived; and with cutting force as the control target, stress of the tail end of the robot is measured through a six-dimensional force sensor and compared with target force, real-time cutting force errors and the error changing speed are worked out, fuzzy processing is conducted with the real-time cutting force errors and the error changing speed as control input, the PID parameter as fuzzy reasoning output and the feed speed as PID control output, a fuzzy rule is established for classified judgment of the cutting state, the stress of the tail end is tested in real time through the force sensor for judging the cutting force deviation condition and selecting the proper PID parameter, a PID control model is adjusted in real time, and control over the cutting force is achieved by adjusting the robot cutting feed speed.

Description

technical field [0001] The invention belongs to the technical field of robot processing applications, and relates to an industrial robot curved surface cutting force control technology, in particular to a robot curved surface cutting force control method for robot deformation problems. Background technique [0002] As one of the main means of machining, cutting is widely used in the manufacturing industry. At present, there are two main methods to realize robot cutting processing: conduct a large number of cutting experiments, and use regression analysis to obtain the robot cutting model of specific materials; control the force of the end of the robot, and control the cutting tool while ensuring that the end of the robot is in contact with the workpiece. position and contact force between tool and workpiece. [0003] 1. The robot cutting model is obtained through regression analysis. The realization of this method requires a large amount of experimental data, and the cuttin...

AI Technical Summary

Problems solved by technology

This method is low in cost, but does not consider the deformation of the robot itself and the assembly error of the workpiece, and the machining accuracy is low; the force control method with sensors mainly relies on the data feedback from the sensor to judge the force position at the end of the robot, and realizes real-time force position control.

The current force control method mainly considers the force position problem, and does not consider the influence of the surface cutting feed rate on the system deformation

Images