打磨动力头曲面拟合方法和接触力控制策略研究

发布时间：2018-04-26 15:16

本文选题：机器人打磨 + 曲面拟合　；参考：《安徽工程大学》2017年硕士论文

【摘要】：毛刺一向是降低机械零件使用性能及其寿命的不利因素。去毛刺打磨作业,粉尘浓度大、作业环境恶劣、要求精确轮廓跟踪和接触力控制。采用机器人自动去毛刺打磨还存在轮廓跟踪精度低,接触力控制动态性能不足的难题。针对打磨工件自由曲面的复杂性,研究打磨动力头曲面拟合方法以及对接触力的准确跟踪控制,有利于加速推进机器人打磨技术在实际生产中的广泛使用。为克服加工件公差以及装夹误差等因素对打磨作业的影响,进行了曲面拟合方法的研究。根据基础阻抗控制,提出了采用自适应阻抗控制保证对法向接触力进行恒定控制的策略。并引入模糊控制理论,以提高响应速度、降低超调量以及振荡次数。首先,详细分析了轨迹路径曲面拟合方法和接触力控制策略的最新的进展,并对接触力跟踪控制策略的阻抗控制和模糊自适应控制的特性和现状做了总结。其次,借助D-H法对机械手进行运动学和动力学关系进行建模。研究了 5次多项式函数插值的算法形式和曲面拟合过程中的瓶颈干涉问题,该算法能很好的对曲面进行拟合,可以满足作业过程的平稳性,为控制系统的接触力动态控制提供前提。最后,研究了阻抗控制算法的特性及其参数,且仿真实验结果表明,自适应阻抗控制算法能保证对接触力的恒定控制。引入模糊控制,在线调节阻抗参数,可提高打磨机器人的工作效率和质量。
[Abstract]:Burr has always been the unfavorable factor to reduce the performance and service life of mechanical parts. Deburring grinding, high dust concentration, harsh working environment, requires accurate contour tracking and contact force control. The problem of low contour tracking accuracy and insufficient dynamic performance of contact force control also exists in automatic deburring grinding with robot. In view of the complexity of grinding workpiece free-form surface, the fitting method of grinding power head surface and the accurate tracking control of contact force are studied, which is helpful to accelerate the application of robot grinding technology in practical production. In order to overcome the influence of machining tolerance and clamping error on grinding operation, the surface fitting method was studied. According to the basic impedance control, an adaptive impedance control strategy is proposed to guarantee the constant control of the normal contact force. The fuzzy control theory is introduced to improve the response speed, reduce the overshoot and the number of oscillations. Firstly, the recent progress of trajectory path surface fitting method and contact force control strategy is analyzed in detail, and the characteristics and current situation of impedance control and fuzzy adaptive control of contact force tracking control strategy are summarized. Secondly, the kinematics and dynamics of manipulator are modeled by D-H method. This paper studies the algorithm form of polynomial function interpolation of order 5 and the bottleneck interference problem in the process of surface fitting. The algorithm can fit the surface well and satisfy the smoothness of the operation process. It provides the premise for the dynamic control of the contact force of the control system. Finally, the characteristics and parameters of the impedance control algorithm are studied, and the simulation results show that the adaptive impedance control algorithm can guarantee the constant control of the contact force. By introducing fuzzy control and adjusting impedance parameters online, the working efficiency and quality of grinding robot can be improved.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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