本文選題：工業(yè)機器人 + 打磨加工　； 參考：《哈爾濱工業(yè)大學》2017年碩士論文

【摘要】：機器人技術的飛速發(fā)展,使得大量的機器人被應用到工業(yè)生產(chǎn)中,隨著感知系統(tǒng)的出現(xiàn),人工打磨這類傳統(tǒng)制造工藝,也在逐步被機器人自動打磨取代。本文構建了基于力反饋的打磨機器人控制系統(tǒng),目的是為了控制加工過程中的接觸力,提高打磨加工質(zhì)量�；诜忾]的機器人控制器,研究了力/位置控制算法,設計了相應的打磨控制方案,搭建了機器人打磨控制系統(tǒng),實現(xiàn)了接觸力恒定的打磨加工。分析打磨加工精度的影響因素,提出了打磨法向恒力控制策略。對于機器人末端與工件的作用過程,建立了末端位移與接觸力的數(shù)學模型,在封閉的機器人控制器下,只能控制末端位移,引入阻抗控制算法,實現(xiàn)了間接控制接觸力;建立了基于位置的阻抗控制模型,并分析了不同目標阻抗參數(shù)的作用。通過對阻抗控制的穩(wěn)態(tài)誤差分析,基于在線估算環(huán)境位置和剛度,建立了自適應阻抗控制模型,并仿真驗證了控制策略對環(huán)境變化的適應能力。研究了打磨軌跡規(guī)劃過程,通過實時調(diào)整末端打磨軌跡,實現(xiàn)打磨法向力恒定�；跈C器人坐標系統(tǒng),分析了末端打磨工具姿態(tài)變換過程,設計了打磨位置點控制策略的實現(xiàn)過程。根據(jù)打磨加工特點,提出了基于試教打磨軌跡的動態(tài)軌跡規(guī)劃,設計了單點循環(huán)打磨控制流程,解決阻抗模型中的參數(shù)固定問題;基于當前打磨點位置修正,下一打磨點位置補償?shù)能壽E調(diào)整策略,設計了自適應阻抗控制實時軌跡調(diào)整流程。提出了對于未知輪廓估算打磨軌跡的動態(tài)規(guī)劃,設計了邊估算軌跡邊打磨的控制流程。構建了機器人打磨實驗平臺。搭建了硬件系統(tǒng),設計了末端打磨工具的裝夾方式。編寫了軟件系統(tǒng),建立了系統(tǒng)間的實時通訊方案,設計了在線位置修正和力信息實時處理的運行流程。最后研究了機器人打磨力控制實驗。根據(jù)打磨工藝參數(shù),設計了單因素試驗,驗證了工藝參數(shù)對打磨加工的影響,并推導了切入深度與磨削力的經(jīng)驗公式。設計了機器人對位移的響應實驗,提出了控制機器人法向速度的加工方式,推導了偏移量與法向速度的函數(shù)關系式。設計了力控制精度對比試驗,驗證了控制方案的有效性。設計了對未知輪廓估算軌跡的力控制試驗,位置跟蹤效果良好,力控制在恒定區(qū)間內(nèi),驗證了控制方案可行。
[Abstract]:With the rapid development of robot technology, a large number of robots are used in industrial production. With the appearance of perceptual system, traditional manufacturing technology such as manual grinding is gradually replaced by robot automatic grinding. The control system of grinding robot based on force feedback is constructed in this paper. The purpose of this system is to control the contact force in machining process and improve the quality of grinding process. Based on the closed robot controller, the force / position control algorithm is studied, the corresponding grinding control scheme is designed, the robot grinding control system is built, and the grinding process with constant contact force is realized. The influence factors of grinding precision are analyzed, and the control strategy of grinding normal constant-force is put forward. The mathematical model of the end displacement and contact force is established for the interaction between the robot end and the workpiece. Under the closed robot controller, the terminal displacement can only be controlled, and the impedance control algorithm is introduced to realize the indirect control of the contact force. The impedance control model based on position is established, and the function of different impedance parameters is analyzed. By analyzing the steady state error of impedance control, an adaptive impedance control model is established based on the on-line estimation of environment position and stiffness, and the adaptability of the control strategy to environmental change is verified by simulation. The process of grinding trajectory planning is studied, and the normal force of grinding is constant by adjusting the trajectory of end grinding in real time. Based on the robot coordinate system, the attitude transformation process of the end grinding tool is analyzed, and the realization process of the grinding position control strategy is designed. According to the characteristics of grinding processing, the dynamic trajectory planning based on the track of grinding is proposed, and the control flow of single point circular grinding is designed to solve the problem of fixed parameters in the impedance model. The trajectory adjustment strategy of the next grinding point position compensation is proposed and the real-time trajectory adjustment flow of adaptive impedance control is designed. In this paper, the dynamic programming for the unknown contour to estimate the grinding trajectory is proposed, and the control flow of grinding while estimating the trajectory is designed. A robot grinding experiment platform is constructed. The hardware system is built and the clamping mode of the end grinding tool is designed. The software system is written, the real-time communication scheme between the systems is established, and the running flow of on-line position correction and force information real-time processing is designed. Finally, the control experiment of robot grinding force is studied. According to the grinding process parameters, a single factor test was designed to verify the influence of the process parameters on the grinding process, and the empirical formulas of the cutting depth and grinding force were deduced. The experiment of robot response to displacement is designed. The machining method of controlling the normal velocity of the robot is proposed. The functional relationship between the offset and the normal velocity is derived. A contrast test of force control accuracy is designed to verify the effectiveness of the control scheme. A force control experiment is designed to estimate the trajectory of unknown contour. The effect of position tracking is good and the force control is in a constant range. The feasibility of the control scheme is verified.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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