机器人研磨系统在浮动平台上的恒力控制研究  

Research on Constant Force Control of Robot Grinding System on Floating Platform

作　　者：张铁[1] 蔡超 ZHANG Tie;CAI Chao(School of Mechanical and Automotive Engineering, South China University of Technology, Guangdong Guangzhou 510641, China)

机构地区：[1]华南理工大学机械与汽车工程学院

出　　处：《机械设计与制造》2019年第A01期150-156,共7页Machinery Design & Manufacture

基　　金：国家高档数控机床与基础制造装备科技重大专项(2015ZX04005006);广东省科技重大专项(20114B090921004);中山市科技重大专项(2016F2FC0006)

摘　　要：针对现有的机器人研磨系统刚度差,信号处理复杂的问题,考虑到研磨质量与法向研磨力有很大的关系,设计了一种新型浮动平台机器人研磨系统,该系统利用安装于浮动平台上的一维力传感器获得研磨力信号。基于所获得的力信号,采用免疫反馈与粒子群模糊优化方法的自适应PID控制器实现平台的柔顺控制,实现了研磨过程的恒力控制。仿真结果表明,该控制方法在超调量与调节时间两方面性能优于经典PID,模糊PID等控制方法,为实验研究提供了理论基础。实验结果显示,期望力为2.5N时,研磨力信号能稳定在期望力附近1N范围内,系统调节时间为0.12s,超调量为18.18%。系统的抗干扰能力强,能满足研磨工艺要求。Aiming at the problem of poor rigidity and signal processing in the existing robotic grinding system. Considering the great relationship between the grinding quality and the normal grinding force, a new type of floating platform robotic grinding system was designed. The system uses a one-dimensional force sensor which is mounted on a floating platform to obtain the grinding force. Based on the obtained force signal, an adaptive PID controller based on immune feedback and particle swarm optimization was used to realize the compliant control of the platform and constant force control. The simulation results show that the control method performs better than the classic PID and fuzzy PID control methods in both overshoot and regulation time, providing a theoretical basis for experimental research. The experimental results show that the grinding force signal can be stabilized within 1N in the vicinity of the desired force 2.5N. The system adjustment time is 0.12s and the overshoot is 18.18%.The system has strong anti-interference ability, and can meet the grinding process requirements.

关 键 词：机器人 恒力研磨 免疫反馈 粒子群 自适应 

分 类 号：TH16[机械工程—机械制造及自动化] TP391.9[自动化与计算机技术—计算机应用技术]