卫浴陶瓷打磨机器人阻抗控制研究  

Research on the impedance control of bathroom ceramic polishing robot

作　　者：夏晖 乔志峰[1,2] XIA Hui;QIAO Zhifeng(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384

出　　处：《天津理工大学学报》2022年第6期46-51,共6页Journal of Tianjin University of Technology

基　　金：天津市新一代人工智能科技重大专项(19ZXZNGX00100);京津冀三地联合攻关项目(19YFSLQY00050);天津市企业科技特派员项目(20YDTPJC00790,20YDTPJC00700)。

摘　　要：为解决在恒力打磨卫浴陶瓷中传统的金属打磨方法精度较低的问题,采用六轴机器人和六维力传感器设计了一套精度更高的恒力打磨卫浴陶瓷的自动打磨方法,搭建了基于位置的阻抗控制的数学模型,采用MATLAB软件对其进行仿真分析,并对系统的不同参数影响进行研究,最后进行卫浴陶瓷的恒力打磨试验。结果表明:恒力打磨机器人能够在打磨时提供相对平稳的接触力,证明该控制方法的可行性,可达到对卫浴陶瓷打磨的要求。In order to solve the problem of low precision, this paper designs a set of higher precision, and builds a mathematical model based on the impedance control. The numerical simulations based on the MATLAB are completed, and the influence of different parameters of the system is studied. Experiments with the constant force polishing on bathroom ceramics were accomplished. The results show that the polishing robot with the constant force can provide a relatively stable contact force during polishing. The feasibility of the control method is proved, and the proposed method can meet the requirements of bathroom ceramic polishing.

关 键 词：工业机器人 阻抗控制 陶瓷打磨 六维力传感器 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]