自由曲面抛光机器人的位姿规划和控制  

Research on Posture Planning and Control of Free-form Surface Polishing Robot

作　　者：明恒强 殷跃红[1] MING Hengqiang;YIN Yuehong(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械设计与研究》2023年第5期11-16,23,共7页Machine Design And Research

摘　　要：针对当前机器人气囊抛光自由曲面的位姿求解困难、加工运行状态较差等问题,提出一种机器人抛光自由曲面位姿求解和控制的新方法。通过分析工件面形和抛光轴位姿的变换关系,对抛光轴进行位姿求解计算,然后针对自研机器人进行运动学求解,在此基础上,对确定的面形进行计算并修整轨迹,最后通过ROS系统仿真验证并进行抛光实验。结果表明,该位姿求解算法能够满足气囊抛光机器人对自由曲面的加工需求,获得理想的刀具位姿控制效果。Aiming at the current problems such as the difficulty of solving the pose of the freeform surfacebonnet polishing robot and the unsatisfactory operation state of the actual processing,a new method of freeform surface polishing robot pose planning and control is proposed.By analyzing the relation between the workpiece surface shape and the position and pose of the bonnet polishing axis,the position and pose of the bonnet polishing axis are solved.Then the kinematics of the self-developed robot is solved.On this basis,the determined surface shape is calculated and verified,and the polishing track is trimmed.Finally,the pose is verified by a ROS system simulation and polishing experiments are carried out.The results show that the pose-solving algorithm can meet the processing requirements of the bonnet polishing robot for free-form surfaces of optical components and obtain the ideal pose-control effect of the bonnet polishing tool.

关 键 词：机器人 气囊抛光 光学自由曲面 运动学 ROS 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]