Method for tracking constant force surface of robot based on fuzzy iterative algorithm

Abstract

The invention discloses a method for tracking a constant force surface of a robot based on a fuzzy iterative algorithm. The method comprises the steps of that (1) for a feature of an industrial robotend effector contacting a surface profile, a mapping relation of surface normal force and a known sensor coordinate system is established; (2) according to an error between force obtained in an experiment and expected force, a motion trajectory of the robot is changed, and according to force error in the previous experiment and the force error variation, the trajectory of the robot is fuzzyly compensated; (3) iterative experiment is carried out until the error between the obtained force and the expected force is within a set range. The method for tracking the constant force surface of the robot based on the fuzzy iterative algorithm has the advantages that the problem is solved that constant tracking force is obtained difficultly in existing surface tracking of the robot, the implement issimple, an unknown transfer function in the robot does not need to be obtained, the attitude of a robot end sensor does not need to be changed, and the obtained surface profile track provides an initial reference trajectory for subsequent grinding, polishing and other processing.

Description

technical field [0001] The invention relates to the technical field of robot constant force control, in particular to a robot constant force curved surface tracking method based on a fuzzy iterative algorithm. Background technique [0002] In the process of contact between the robot and the environment, the contact state between the robot and the environment can be adjusted through force control, so as to achieve the ideal contact effect. Therefore, force control is widely used in robot grinding, polishing, surface tracking, etc. When using a robot to track an unknown surface contact, maintaining a constant contact force can obtain an accurate surface profile. However, due to the robot's own properties (such as robot dynamics, robot stiffness) and the unknown environment are time-varying during the contact process (such as surface profile Changes), resulting in unstable and large fluctuations in the contact force between the robot and the curved surface, resulting in inaccur...

AI Technical Summary

Problems solved by technology

When using a robot to track an unknown surface contact, maintaining a constant contact force can obtain an accurate surface profile. However, due to the robot's own properties (such as robot dynamics, robot stiffness) and the unknown environment are time-varying during the contact process (such as surface profile change), resulting in unstable and large fluctuations in the contact force between the robot and the curved surface, resulting in inaccurate surface contours collected

[0003] Traditional control algorithms (such as impedance control, force / position hybrid control, adaptive control) are difficult to compensate for various uncertainties in the robot tracking process, such as the uncertainty of robot kinematics, and the change of sensor attitude at the end of the robot causes Changes in sensor indications; and the design of intelligent control algorithms is relatively complicated, and most of them stay in the simulation stage at present

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