机器人磨削系统控制技术研究

发布时间：2018-11-24 11:57

【摘要】：机器人的发展和应用水平体现着国家工业发展水平,也是国家先进技术实力的体现。随着机器人技术的不断提升与飞速发展,传统人工磨削及抛光制造工艺面临更新换代的挑战,工业机器人自动化磨削控制技术成为了当前研究热点。本文针对机器人磨削系统的工作特点与精度要求,构建一套控制技术方案,针对离线磨削轨迹规划、力/位混合控制等关键技术展开深入研究,论文主要研究内容如下:(1)介绍了机器人磨削系统组成及整体工作流程,分析了系统关键硬件,阐述了机器人系统及技术指标,研究了机器人力觉系统及交互原理。(2)研究了基于机器人运动关节组合的最优轨迹规划方法,介绍了离线磨削轨迹规划流程,通过数学建模,分析了环切法和行切法特点,比较得出了较优机器人运动关节组合数,分析了不等接触力和临界重叠区,选出了最佳临界重叠方案。耦合机器人运动路径,建立了外部TCP坐标系,获取了磨削姿态,解析了磨削指令,通过仿真模拟并验证轨迹规划方法可行性。(3)分析了磨削工艺对质量的影响,提出了控制需求,构建了系统整体控制方案,分析了硬件组态及软件框架,提炼了控制方案关键技术,启用了机器人中断机制,设计了传感器低通滤波方案,着重研究了力/位混合控制技术,包括重力补偿算法、基于最小二乘法的力/位混合控制算法和位移法向偏置算法。(4)搭建了试验现场,规划了试验样件临界重叠区,得出了正交行切法轨迹,验证了控制方案可行性,包括上位机软件控制可行性和机器人中断响应实时性,在规划的离线轨迹基础上实施力/位混合控制技术,分析了力/位控制精度,初步验证了机器人磨削控制特性和整体方案。
[Abstract]:The development and application level of robot reflects the level of national industrial development and the national advanced technical strength. With the continuous improvement and rapid development of robot technology, the traditional manual grinding and polishing manufacturing technology is faced with the challenge of upgrading, and the automatic grinding control technology of industrial robot has become a research hotspot. According to the working characteristics and precision requirements of the robot grinding system, this paper constructs a set of control technology scheme, and makes a deep research on the key technologies, such as off-line grinding trajectory planning, force / bit hybrid control and so on. The main contents of this paper are as follows: (1) the composition and the whole work flow of the robot grinding system are introduced, the key hardware of the system is analyzed, and the robot system and its technical index are expounded. The robot force sensing system and interaction principle are studied. (2) the optimal trajectory planning method based on robot motion joint combination is studied, and the off-line grinding trajectory planning flow is introduced. Through mathematical modeling, the characteristics of ring cutting method and line cutting method are analyzed. The optimal kinematic joint combination number is obtained, the unequal contact force and critical overlap region are analyzed, and the optimal critical overlap scheme is selected. Coupled with the robot's motion path, the external TCP coordinate system is established, the grinding attitude is obtained, the grinding instruction is analyzed, and the feasibility of the trajectory planning method is verified by simulation. (3) the influence of grinding technology on the quality is analyzed. The control requirements are put forward, the overall control scheme of the system is constructed, the hardware configuration and software framework are analyzed, the key technologies of the control scheme are refined, the robot interrupt mechanism is enabled, and the low-pass filtering scheme of the sensor is designed. The hybrid force / bit control technology, including gravity compensation algorithm, force / bit hybrid control algorithm based on least square method and displacement normal bias algorithm, are studied emphatically. (4) the test site is built and the critical overlap region of the test sample is planned. The forward intersection cutting trajectory is obtained, and the feasibility of the control scheme is verified, including the feasibility of the software control of the upper computer and the real-time response of the robot interrupt. The force / bit hybrid control technology is implemented on the basis of the planned off-line trajectory. The precision of force / bit control is analyzed and the control characteristics and overall scheme of robot grinding are preliminarily verified.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG580.6;TP242

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