机器人柔性抛光机床的力控制系统的建模与辨识  

Modeling and identification for force control system of robotic flexible polishing machine tool

作　　者：彭伟[1] 贠超[1] 王留呆[1] 李成群[1] 孙云权 吴水华 

机构地区：[1]北京航空航天大学机器人研究所,北京100083 [2]廊坊智通机器人系统有限公司,河北廊坊065001

出　　处：《机械研究与应用》2007年第6期105-106,共2页Mechanical Research & Application

摘　　要：机器人柔性抛光系统中,力控制系统是重要的组成部分。力控制系统对抛光加工性能有重要的影响,直接关系着抛光质量。该力控制系统实际上是一个闭环的交流伺服系统,对力控制系统的建模为抛光系统的动态和静态性能分析提供了理论基础。Force control system is a very important part of the robotic flexible polishing system. It has important effect on polishing performance, and it is directly related to the polishing quality. The force control system is in fact a closed - loop AC servo system. The model of control system is presented, the result provides theoretical basis for dynamic performance and steady - state performance of polishing system.

关 键 词：抛光机床 力控制 闭环伺服系统 建模 辨识 

分 类 号：TG55[金属学及工艺—金属切削加工及机床]