Intelligent control method in automatic grinding operation process of robot

Abstract

The invention relates to an intelligent control method for an automatic grinding operation process of a robot. A force sensor is fixed at the tail end of a robot, a workpiece is clamped at the tail end of the sensor, the workpiece is ground on a belt sander through position control of the robot, and the force sensor is used for detecting contact force and torque between the workpiece and the belt sander. And the upper computer, the sensor and the robot carry out transmission by using an IP / UDP protocol to realize control. According to the grinding operation, high-precision contact force control is achieved through force-position hybrid control, a gravity compensation algorithm and contact force solving are achieved, and constant force control is achieved based on fuzzy PID control. In order to effectively avoid the over-grinding phenomenon of the initial position and the end point of a grinding path and the position where the surface of a workpiece fluctuates greatly, torque control is added into a control strategy to achieve force and torque fusion control. According to the intelligent control strategy, quantitative removal of materials for workpiece grinding operation can be achieved, and in addition, the method is high in universality and suitable for grinding machining of various complex curved surface parts.

Description

technical field [0001] The invention relates to the field of intelligent manufacturing and processing, in particular to an intelligent control method in the process of robotic automatic grinding and processing complex curved surfaces. Background technique [0002] At present, the processing of parts with complex curved surfaces such as blades mainly relies on manual grinding, which not only makes it difficult to ensure the consistency of processing quality, but also leads to low processing efficiency, and the processing environment is harsh and labor-intensive. In order to obtain higher processing quality and production efficiency, a large number of CNC equipment has been designed and successfully applied to the processing of parts such as blades, but CNC machine tools have disadvantages such as high cost, poor flexibility, and long process cycle. In recent years, with the rapid innovation of robot technology, robot technology has been applied to the process of handling, ass...

AI Technical Summary

Problems solved by technology

At present, some control algorithms at home and abroad are difficult to ensure the precise control of contact force, and cannot achieve high-precision grinding of complex curved surfaces such as blades, and most control algorithms do not take torque control into account

Images