A Tracking Method for Robot Constant Force Surface Based on Fuzzy Iterative Algorithm

Abstract

The invention discloses a robot constant force curved surface tracking method based on fuzzy iterative algorithm. Mapping relationship; (2) Change the trajectory of the robot according to the error between the force obtained in the experiment and the expected force, and at the same time fuzzy compensate the trajectory of the robot according to the force error and force error variation in the previous experiment; (3) Iterate the experiment until The obtained force and the expected error are within the set range. The invention solves the problem that it is difficult to obtain a constant tracking force in the existing robot curved surface tracking, and has the advantages of simple implementation, without obtaining the unknown transfer function inside the robot and without changing the attitude of the robot end sensor, and the obtained curved surface contour trajectory is the follow-up Grinding, polishing and other processing provide the initial reference track.

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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