CN103885334A - Polishing and grinding force-position mixed control method and system - Google Patents
Polishing and grinding force-position mixed control method and system Download PDFInfo
- Publication number
- CN103885334A CN103885334A CN201310746856.9A CN201310746856A CN103885334A CN 103885334 A CN103885334 A CN 103885334A CN 201310746856 A CN201310746856 A CN 201310746856A CN 103885334 A CN103885334 A CN 103885334A
- Authority
- CN
- China
- Prior art keywords
- control
- polishing
- power
- workpiece
- fuzzy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a polishing and grinding force-position mixed control method and system so that control precision is enhanced when contact force is generated between a grinding and polishing robot and an external environment, and grinding force is ensured to be constant in the grinding process. The method comprises that: a pressure sensor acquires current grinding force Fc between a grinding tool and a workpiece; a comparator calculates a difference value between the expected grinding force Fd between the grinding tool and the workpiece and the current grinding force Fc; and a fuzzy controller outputs a control variable U to control the grinding force between the grinding tool and the workpiece according to rate of change Ec of the difference value by adopting a fuzzy control algorithm. The method provided by the embodiment of the invention can enhance control precision when the contact force is generated between the grinding and polishing robot and the external environment, the grinding force is ensured to be constant in the grinding process and thus the grinding effect is ensured.
Description
Technical field
The present invention relates to automation field, be specifically related to a kind of polishing grinding power-position mixing control method and system.
Background technology
Robot is the product that modern science and technology high speed is integrated and blend, it relates to numerous scientific domains such as machinery, control, electronics, sensor, computing machine, artificial intelligence, knowledge base system and cognitive science, is one of the most representative electromechanical integration technology in the present age.At present, the method for robot being controlled is mainly position control.For position control, first judge the error amount of current movement locus and desired motion track, then decide the required moment providing of driver by error amount.Existing position control method has computing power moments method, pid control law and adaptive method etc.But these position control methods are only applicable to the task simple, robot is little and external environment condition comes in contact.
Along with the expansion in robot application field, robot can come in contact and produce contact force under many circumstances with external environment condition, and for example, robot applies to the occasions such as assembling, cutting, polishing, grinding, scouring, deburring and grinding.Along with scientific and technical progress and manufacturing development, market constantly increases the demand of sanding and polishing processing.Sanding and polishing machine people can realize high-level efficiency, high-quality robotization polishing, for replacing manual polishing that a kind of effective solution is provided.Polishing grinding machine people adopts automatic control technology, can realize the full automatic polishing polishing processing to complex product, determines processing mode and implementation step, generates processing instruction, thereby complete polishing, polishing operation by programming.
For above-mentioned sanding and polishing machine people, we need to utilize equipment to produce additional power to process in some cases, and some will be controlled at additional force in certain scope.And having or not of contact force proposed new requirement with size to sanding and polishing machine device people's control, traditional position control can not adapt to sanding and polishing machine people's demand for development.
Summary of the invention
The embodiment of the present invention provides a kind of polishing grinding power-position mixing control method and system, and to improve control accuracy in the time that sanding and polishing machine people and external environment condition produce contact force, the constant of power guarantees to polish in bruting process.
The embodiment of the present invention provides a kind of polishing grinding power-position mixing control method, and described method comprises:
Pressure transducer obtains the current polishing power Fc between milling tools and workpiece;
Comparer calculates the difference between expectation polishing power Fd and the described current polishing power Fc between described milling tools and workpiece;
Fuzzy controller, according to the rate of change Ec of described difference, adopts FUZZY ALGORITHMS FOR CONTROL output control variable U to control the polishing power between milling tools and workpiece.
Another embodiment of the present invention provides a kind of polishing grinding power-position hybrid control system, and described polishing grinding power-position hybrid control system comprises pressure transducer, the comparer connected with described pressure transducer and the fuzzy controller being connected with described comparer;
Described pressure transducer, for obtaining the current polishing power Fc between milling tools and workpiece;
Described comparer, for calculating the difference between expectation polishing power Fd and the described current polishing power Fc between described milling tools and workpiece;
Described fuzzy controller, for according to the rate of change Ec of described difference, adopts FUZZY ALGORITHMS FOR CONTROL output control variable U to control the polishing power between milling tools and workpiece.
From the invention described above embodiment, owing to obtaining the polishing power between milling tools and workpiece by pressure transducer, calculate the difference of the polishing power between described milling tools and workpiece by comparer, and fuzzy controller can be according to the rate of change of described difference, adopt the polishing power between FUZZY ALGORITHMS FOR CONTROL output control variable control milling tools and workpiece.Therefore, the method that the embodiment of the present invention provides can improve control accuracy in the time of sanding and polishing machine people and external environment condition generation contact force, the constant of power of polishing in assurance bruting process, thus guarantee polishing effect.
Accompanying drawing explanation
Fig. 1 is the basic procedure schematic diagram of polishing grinding power-position mixing control method of providing of the embodiment of the present invention;
Fig. 2-a is the schematic diagram of the power between the pressure transducer that provides of the embodiment of the present invention milling tools and the workpiece that obtain;
Fig. 2-b is the membership function of the control variable U that provides of the embodiment of the present invention;
Fig. 2-c is the membership function of the rate of change Ec that provides of the embodiment of the present invention;
Fig. 3-a be the embodiment of the present invention provide be input as step signal, stiffness K e is the control curve being obtained by fuzzy controller under 10N/m;
Fig. 3-b be another embodiment of the present invention provide be input as the control curve that step signal, stiffness K e are obtained by fuzzy controller while being 100N/m;
Fig. 3-c be another embodiment of the present invention provide be input as the control curve that step signal, stiffness K e are obtained by fuzzy controller while being 1000N/m;
Fig. 3-d be another embodiment of the present invention provide be input as the control curve that step signal, stiffness K e are obtained by fuzzy controller while being 10000N/m;
Fig. 4 is polishing grinding power-position hybrid control system logical organization schematic diagram that the embodiment of the present invention provides;
Fig. 5 is polishing grinding power-position hybrid control system logical organization schematic diagram that another embodiment of the present invention provides;
Fig. 6-a is polishing grinding power-position hybrid control system logical organization schematic diagram that another embodiment of the present invention provides;
Fig. 6-b is polishing grinding power-position hybrid control system logical organization schematic diagram that another embodiment of the present invention provides;
Fig. 7 is polishing grinding power-position hybrid control system structural representation that another embodiment of the present invention provides.
Embodiment
The embodiment of the present invention provides a kind of polishing grinding power-position mixing control method, comprising: pressure transducer obtains the current polishing power Fc between milling tools and workpiece; Comparer calculates the difference between expectation polishing power Fd and the described current polishing power Fc between described milling tools and workpiece; Fuzzy controller, according to the rate of change Ec of described difference, adopts FUZZY ALGORITHMS FOR CONTROL output control variable U to control the polishing power between milling tools and workpiece.The embodiment of the present invention also provides corresponding polishing grinding power-position hybrid control system.Below be elaborated respectively.
The basic procedure of polishing grinding power-position mixing control method of the embodiment of the present invention can be with reference to figure 1, and the method can be used for coordinating the polishing work of sanding and polishing machine people and belt grinder, mainly comprises the steps that S101 is to step S103:
S101, pressure transducer obtains the current polishing power Fc between milling tools and workpiece.
Milling tools described in the embodiment of the present invention can be belt grinder, it mainly comprises three phase electric machine, frequency converter, contact wheel, abrasive band, dust collection, strainer, force feedback governor motion and integral shift mechanism, its the key technical indexes comprises: a sanding and polishing machine people configures two groups of belt grinders, can select the abrasive band of different thicknesses and width, and suitable polishing parameter is set according to technological requirement, workpiece shape; Every group of belt grinder front and back position moves; Abrasive band contact wheel rotating speed variable frequency adjustment; Power control gear can meet kirsite grip surface polishing accuracy requirement; Belt tensioning mechanism; Adjusting deviation device manually or automatically; Reserved dust collection.Wherein, the High Rotation Speed in abrasive band can carry out grinding to surface of the work, makes it smooth bright, increases brightness and the smooth finish of product.According to the shape of concrete workpiece and technological requirement, abrasive band is divided into two groups, select different abrasive bands and grinding parameter to complete respectively technique for grinding.
In embodiments of the present invention, pressure transducer can be arranged in the driving cylinder of belt grinder, pressure transducer detection sanding and polishing machine people clamps the power in workpiece polishing abrasive band.
S102, comparer calculates the difference between expectation polishing power Fd and the current polishing power Fc between milling tools and workpiece.
Expectation polishing power Fd between milling tools and workpiece is the empirical value drawing based on human experience's information, and comparer is actually a subtracter, can calculate the difference between expectation polishing power Fd and the current polishing power Fc between milling tools and workpiece.
S103, fuzzy controller, according to the rate of change Ec of difference, adopts FUZZY ALGORITHMS FOR CONTROL output control variable U to control the polishing power between milling tools and workpiece.
Stability is the key property of system, and a control system can normally be worked, and its prerequisite must be a stable system.For systems stabilisation, when it is being subject to after some extraneous factor disturbances under equilibrium state, although equilibrium state is broken, but after disturbance disappears, system can return to original state gradually with enough precision, and unsettled system can not return to original state in this case.Contradiction between power control algolithm ubiquity response speed and system stability, or system responses is unsettled, or because overdamping prevents unstablely, and cause system responses very slow.Therefore, improve one of problem demanding prompt solution in the unstable power of the being control research of sanding and polishing machine manpower control response speed and anti-locking system.In embodiments of the present invention, controller based on FUZZY ALGORITHMS FOR CONTROL is that fuzzy controller is the one of Based Intelligent Control, it is mainly by using expertise and knowledge to carry out controller reasonable in design, particularly, replace the non-linear partial in PD control by the change curve of nonlinear element D in matching nonlinear PD control device.
As one embodiment of the invention, fuzzy controller is according to the rate of change Ec of the difference between the expectation polishing power Fd between milling tools and workpiece and current polishing power Fc, adopts polishing power between FUZZY ALGORITHMS FOR CONTROL output control variable U control milling tools and workpiece to comprise the steps that S1031 is to step S1033:
S1031, sets up the membership function of rate of change Ec and control variable U.
In embodiments of the present invention, fuzzy controller in the hybrid control system of polishing grinding power-position adopts the controller of single-input single-output type, input variable is the rate of change Ec of the difference between expectation polishing power Fd and the current polishing power Fc between milling tools and workpiece, and output variable is controlled quentity controlled variable U.Input variable Ec becomes fuzzy variable through fuzzy quantization, obtains fuzzy output by fuzzy variable through the reasoning of fuzzy rule, obtains clearly output variable U for controlling through ambiguity solution.Particularly, by { 2 ,-1,0,1,2} is as the quantification domain of rate of change Ec and control variable U, by { NB, NS, Z0, PS, PB}, as the fuzzy subset of rate of change Ec and control variable U, sets up the membership function of rate of change Ec and control variable U, as shown in accompanying drawing 2-b, being the membership function of control variable U, shown in accompanying drawing 2-c, is the membership function of rate of change Ec.Distance between membership function can regulate, thereby changes the performance of FIS, that is, when curve density hour, control sensitivity higher, in the time that curve density is larger, the robustness of fuzzy controller is better.Consider that curve density is too large or too little all unfavorable, generally should guarantee that the intersection point of adjacent fuzzy quantity is between 0.4 to 0.8.
S1032, under membership function, selects fuzzy control decision-making.
Particularly, under membership function, selected fuzzy control decision-making is: "AND" mode (being ANDmethod) is min, "or" mode (OR method) is max, reasoning (being Implication) is min, synthetic (being Aggregation) is max, and deblurring (Deufzzification) is eentroid.
Through step S1031 and S1032, create a fuzzy controller, by curved surface observer window (Surface), can check that it controls expectation value whether near the center in fuzzy control output conclusion space.If exceed 20%, need to readjust membership function and fuzzy control decision-making, until reach requirement.
S1033, according to fuzzy control decision-making, output control variable U controls the polishing power between milling tools and workpiece.
As shown in accompanying drawing 2-a, it is the schematic diagram of power between the pressure transducer milling tools and the workpiece that obtain.Accompanying drawing 3-a is that input is step signal, four kinds of different-stiffness Ke(are that Ke is followed successively by respectively 10N/m, 100N/m, 1000N/m and 10000N/m to accompanying drawing 3-d) under obtained by fuzzy controller four kinds control curves.From accompanying drawing 3-a to accompanying drawing 3-d to finding out in the control of the transport function different-stiffness, the control effect that still can obtain with the control of fuzzy controller.Compare with nonlinear PD control, at stiffness K e hour, the rise time of fuzzy control is very fast.Feature the most significant of fuzzy control is, outside rigidity occurs by soft to hard variation, and its control output speed remains unchanged substantially, and there is no ultraharmonic oscillation.
In the method providing at the invention described above embodiment, owing to obtaining the polishing power between milling tools and workpiece by pressure transducer, calculate the difference of the polishing power between milling tools and workpiece by comparer, and fuzzy controller can be according to the rate of change of described difference, adopt the polishing power between FUZZY ALGORITHMS FOR CONTROL output control variable control milling tools and workpiece.Therefore, the method that the embodiment of the present invention provides can improve control accuracy in the time of sanding and polishing machine people and external environment condition generation contact force, the constant of power of polishing in assurance bruting process, thus guarantee polishing effect.
Below polishing grinding power-position hybrid control system of the embodiment of the present invention for carrying out above-mentioned polishing grinding power-position mixing control method is described, its basic logical structure is with reference to accompanying drawing 4.For convenience of explanation, polishing grinding power-position hybrid control system of accompanying drawing 4 examples only shows the part relevant to the embodiment of the present invention, mainly comprise pressure transducer 401, the comparer 402 connected with pressure transducer 401 and the fuzzy controller 403 being connected with comparer 402, the basic function of each device is described as follows:
In the present embodiment, milling tools can be belt grinder, it mainly comprises three phase electric machine, frequency converter, contact wheel, abrasive band, dust collection, strainer, force feedback governor motion and integral shift mechanism, its the key technical indexes comprises: a sanding and polishing machine people configures two groups of belt grinders, can select the abrasive band of different thicknesses and width, and suitable polishing parameter is set according to technological requirement, workpiece shape; Every group of belt grinder front and back position moves; Abrasive band contact wheel rotating speed variable frequency adjustment; Power control gear can meet kirsite grip surface polishing accuracy requirement; Belt tensioning mechanism; Adjusting deviation device manually or automatically; Reserved dust collection.Wherein, the High Rotation Speed in abrasive band can carry out grinding to surface of the work, makes it smooth bright, increases brightness and the smooth finish of product.According to the shape of concrete workpiece and technological requirement, abrasive band is divided into two groups, select different abrasive bands and grinding parameter to complete respectively technique for grinding.
In the present embodiment, pressure transducer 401 can be arranged in the driving cylinder of belt grinder, pressure transducer 401 detects sanding and polishing machine people and clamps the power in workpiece polishing abrasive band, thereby obtains the current polishing power Fc between milling tools and workpiece.
Comparer 402, for calculating the difference between the current polishing power Fc between expectation polishing power Fd and milling tools and the workpiece between milling tools and workpiece.
Expectation polishing power Fd between milling tools and workpiece is the empirical value drawing based on human experience's information, comparer 402 is actually a subtracter, can calculate the difference between expectation polishing power Fd and the current polishing power Fc between milling tools and workpiece.
The fuzzy controller 403 of accompanying drawing 4 examples can comprise that membership function sets up unit 501, sets up the Tactic selection unit 502 that unit 501 is connected and the variable output unit 503 being connected with Tactic selection unit 502 with membership function, polishing grinding power-position hybrid control system that another embodiment of the present invention provides as shown in Figure 5, wherein:
Membership function is set up unit 501, for setting up the membership function of rate of change Ec and control variable U.
Particularly, membership function is set up unit for inciting somebody to action { 2 ,-1,0,1,2} is as the quantification domain of rate of change Ec and control variable U, by { NB, NS, Z0, PS, PB}, as the fuzzy subset of rate of change Ec and control variable U, sets up the membership function of rate of change Ec and control variable U.Distance between membership function can regulate, thereby changes the performance of FIS, that is, when curve density hour, control sensitivity higher, in the time that curve density is larger, the robustness of fuzzy controller is better.Consider that curve density is too large or too little all unfavorable, generally should guarantee that the intersection point of adjacent fuzzy quantity is between 0.4 to 0.8.
Particularly, under membership function, the selected fuzzy control decision-making in Tactic selection unit 502 is: "AND" mode (being AND method) is min, "or" mode (OR method) is max, reasoning (being Implication) is min, synthetic (being Aggregation) is max, and deblurring (Deufzzification) is eentroid.
Set up unit 501 and Tactic selection unit 502 through membership function, created a fuzzy controller.By curved surface observer window (Surface), can check that it controls expectation value whether near the center in fuzzy control output conclusion space.If exceed 20%, need to readjust membership function and fuzzy control decision-making, until reach requirement.
The force signal processor 602 that polishing grinding power-position hybrid control system of above-mentioned accompanying drawing 4 or accompanying drawing 5 arbitrary examples also comprises wave filter 601 and is connected with wave filter 601, polishing grinding power-position the hybrid control system providing as accompanying drawing 6-a or the arbitrary example of accompanying drawing 6-b, wherein:
Wave filter 601, for the corresponding data of current polishing power Fc are carried out to filtering, the corresponding data of described current polishing power Fc are included in the suffered force and moment of directions X under pressure transducer coordinate system.
Particularly, wave filter 601 carries out filtering to the corresponding data of current polishing power Fc that measure, and consider the quality of milling tools, be provided with gravity compensation link, conversion sanding and polishing machine people's position can obtain many group force value, force signal processor 602 utilizes least square method to be optimized the data of gained, draws optimal value, thereby complete, the coordinate system of pressure transducer 401 is demarcated.
Refer to accompanying drawing 7, be polishing grinding power-position hybrid control system of providing of another embodiment of the present invention its except comprising the fuzzy controller, pressure transducer, comparer, wave filter, force signal processor of accompanying drawing 6-a or accompanying drawing 6-b example, also comprise the functional units such as current controller, speed control and positioner.
It should be noted that, the content such as information interaction, implementation between the each module/unit of said apparatus, due to the inventive method embodiment based on same design, its technique effect bringing is identical with the inventive method embodiment, particular content can, referring to the narration in the inventive method embodiment, repeat no more herein.
One of ordinary skill in the art will appreciate that all or part of step in the whole bag of tricks of above-described embodiment is can carry out the hardware that instruction is relevant by program to complete, this program can be stored in a computer-readable recording medium, storage medium can comprise: ROM (read-only memory) (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc.
Polishing grinding power-position the mixing control method and the system that above the embodiment of the present invention are provided are described in detail, applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof; , for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention meanwhile.
Claims (10)
1. polishing grinding power-position mixing control method, is characterized in that, described method comprises:
Pressure transducer obtains the current polishing power Fc between milling tools and workpiece;
Comparer calculates the difference between expectation polishing power Fd and the described current polishing power Fc between described milling tools and workpiece;
Fuzzy controller, according to the rate of change Ec of described difference, adopts FUZZY ALGORITHMS FOR CONTROL output control variable U to control the polishing power between milling tools and workpiece.
2. method according to claim 1, is characterized in that, described fuzzy controller, according to the rate of change Ec of described difference, adopts FUZZY ALGORITHMS FOR CONTROL output control variable U to control the polishing power between milling tools and workpiece, comprising:
Set up the membership function of described rate of change Ec and control variable U;
Under described membership function, select fuzzy control decision-making;
According to described fuzzy control decision-making, output control variable U controls the polishing power between milling tools and workpiece.
3. method according to claim 2, is characterized in that, the described membership function of setting up described rate of change Ec and control variable U is:
Will 2 ,-1,0,1,2} is as the quantification domain of described rate of change Ec and control variable U, will NB, and NS, Z0, PS, PB}, as the fuzzy subset of described rate of change Ec and control variable U, sets up the membership function of described rate of change Ec and control variable U.
4. method according to claim 2, is characterized in that, described under described membership function, and the fuzzy control decision-making of described selection is: "AND" mode is min, and "or" mode is max, and reasoning is min, synthesizes max, and deblurring is eentroid.
5. according to the method described in claim 1 to 4 any one, it is characterized in that, after described pressure transducer obtains the current polishing power Fc between milling tools and workpiece, before difference calculator calculates the difference between expectation polishing power Fd and the described current polishing power Fc between described milling tools and workpiece, described method also comprises:
Wave filter carries out filtering to the corresponding data of described current polishing power Fc, and the corresponding data of described current polishing power Fc are included in the suffered force and moment of directions X under pressure transducer coordinate system;
Adopt force signal processor to be optimized described filtered data.
6. polishing grinding power-position hybrid control system, is characterized in that, described polishing grinding power-position hybrid control system comprises pressure transducer, the comparer connected with described pressure transducer and the fuzzy controller being connected with described comparer;
Described pressure transducer, for obtaining the current polishing power Fc between milling tools and workpiece;
Described comparer, for calculating the difference between expectation polishing power Fd and the described current polishing power Fc between described milling tools and workpiece;
Described fuzzy controller, for according to the rate of change Ec of described difference, adopts FUZZY ALGORITHMS FOR CONTROL output control variable U to control the polishing power between milling tools and workpiece.
7. polishing grinding according to claim 6 power-position hybrid control system, it is characterized in that, described fuzzy controller comprises that membership function sets up unit, sets up the Tactic selection unit that unit is connected and the variable output unit being connected with described Tactic selection unit with described membership function;
Described membership function is set up unit, for setting up the membership function of described rate of change Ec and control variable U;
Described Tactic selection unit, under described membership function, selects fuzzy control decision-making;
Described variable output unit, for according to described fuzzy control decision-making, exports control variable U and controls the polishing power between milling tools and workpiece.
8. polishing grinding according to claim 7 power-position hybrid control system, is characterized in that, described membership function is set up unit specifically for inciting somebody to action { 2,-1,0,1,2} is as the quantification domain of described rate of change Ec and control variable U, by { NB, NS, Z0, PS, PB}, as the fuzzy subset of described rate of change Ec and control variable U, sets up the membership function of described rate of change Ec and control variable U.
9. polishing grinding according to claim 7 power-position hybrid control system, is characterized in that, the fuzzy control decision-making of described selection is: "AND" mode is min, and "or" mode is max, and reasoning is min, synthesizes max, and deblurring is eentroid.
10. according to the polishing grinding power-position hybrid control system described in claim 6 to 9 any one, it is characterized in that, described polishing grinding power-position hybrid control system also comprises the wave filter being connected with described pressure transducer and the force signal processor being connected with described wave filter;
Described wave filter, for the corresponding data of described current polishing power Fc are carried out to filtering, the corresponding data of described current polishing power Fc are included in the suffered force and moment of directions X under pressure transducer coordinate system;
Described force signal processor, for being optimized described filtered data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310746856.9A CN103885334A (en) | 2013-12-30 | 2013-12-30 | Polishing and grinding force-position mixed control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310746856.9A CN103885334A (en) | 2013-12-30 | 2013-12-30 | Polishing and grinding force-position mixed control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103885334A true CN103885334A (en) | 2014-06-25 |
Family
ID=50954285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310746856.9A Pending CN103885334A (en) | 2013-12-30 | 2013-12-30 | Polishing and grinding force-position mixed control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103885334A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149028A (en) * | 2014-08-12 | 2014-11-19 | 安徽埃夫特智能装备有限公司 | High-precision polishing system for robot and control method thereof |
| CN105500147A (en) * | 2015-12-14 | 2016-04-20 | 中国科学院沈阳自动化研究所 | Polishing method of portal lifting robot based on force control |
| CN105751795A (en) * | 2016-03-03 | 2016-07-13 | 南开大学 | Robot carving method based on elastic component |
| CN106393111A (en) * | 2016-11-04 | 2017-02-15 | 华南理工大学 | Robot curved-surface cutting force control method for solving deformation problem of robot |
| CN106553126A (en) * | 2016-11-18 | 2017-04-05 | 东兴自动化投资有限公司 | Method for Pressure Detection, Control and Automatic Compensation in Polishing Process |
| CN108762071A (en) * | 2018-05-10 | 2018-11-06 | 华南理工大学 | A kind of constant force grinding control system and method |
| CN108784852A (en) * | 2018-06-22 | 2018-11-13 | 雅客智慧（北京）科技有限公司 | A kind dental drill hole control system and method |
| WO2019047683A1 (en) * | 2017-09-11 | 2019-03-14 | 南宁宇立仪器有限公司 | Smart polishing method |
| CN112123060A (en) * | 2020-09-23 | 2020-12-25 | 广东博智林机器人有限公司 | Constant-pressure control method and device for wall surface polishing robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11123654A (en) * | 1997-10-24 | 1999-05-11 | Seiko Seiki Co Ltd | Abnormality inference device for processing control consindering powers |
| WO2000070416A1 (en) * | 1999-05-13 | 2000-11-23 | University Of Ottawa | Cutting machines using fuzzy logic controller |
| CN1972780A (en) * | 2004-06-21 | 2007-05-30 | 株式会社荏原制作所 | Polishing apparatus and polishing method |
| CN102540896A (en) * | 2012-02-29 | 2012-07-04 | 清华大学 | Nonlinear fuzzy combination and recursive control system for chemically and mechanically polishing transmission robot |
-
2013
- 2013-12-30 CN CN201310746856.9A patent/CN103885334A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11123654A (en) * | 1997-10-24 | 1999-05-11 | Seiko Seiki Co Ltd | Abnormality inference device for processing control consindering powers |
| WO2000070416A1 (en) * | 1999-05-13 | 2000-11-23 | University Of Ottawa | Cutting machines using fuzzy logic controller |
| CN1972780A (en) * | 2004-06-21 | 2007-05-30 | 株式会社荏原制作所 | Polishing apparatus and polishing method |
| CN102540896A (en) * | 2012-02-29 | 2012-07-04 | 清华大学 | Nonlinear fuzzy combination and recursive control system for chemically and mechanically polishing transmission robot |
Non-Patent Citations (2)
| Title |
|---|
| 张庆伟 等: "基于打磨机器人的力/位混合控制策略研究", 《化工自动化及仪表》 * |
| 张正伟: "机器人末端执行器力控制研究", 《中国优秀硕士学位论文全文数据库》 * |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149028B (en) * | 2014-08-12 | 2017-02-15 | 埃夫特智能装备股份有限公司 | High-precision polishing system for robot and control method thereof |
| CN104149028A (en) * | 2014-08-12 | 2014-11-19 | 安徽埃夫特智能装备有限公司 | High-precision polishing system for robot and control method thereof |
| CN105500147A (en) * | 2015-12-14 | 2016-04-20 | 中国科学院沈阳自动化研究所 | Polishing method of portal lifting robot based on force control |
| CN105751795A (en) * | 2016-03-03 | 2016-07-13 | 南开大学 | Robot carving method based on elastic component |
| CN105751795B (en) * | 2016-03-03 | 2018-06-08 | 南开大学 | Robot engraving process based on elastic element |
| CN106393111B (en) * | 2016-11-04 | 2019-07-16 | 华南理工大学 | For the robot curved surface cutting force control method of robot deformation problems |
| CN106393111A (en) * | 2016-11-04 | 2017-02-15 | 华南理工大学 | Robot curved-surface cutting force control method for solving deformation problem of robot |
| CN106553126A (en) * | 2016-11-18 | 2017-04-05 | 东兴自动化投资有限公司 | Method for Pressure Detection, Control and Automatic Compensation in Polishing Process |
| WO2018091989A1 (en) * | 2016-11-18 | 2018-05-24 | 东兴自动化投资有限公司 | Method for detection, control and automatic compensation of pressure during polishing |
| US11623323B2 (en) | 2016-11-18 | 2023-04-11 | Tung Hung Automation Investment Limited | Method for detecting, controlling and automatically compensating pressure in a polishing process |
| WO2019047683A1 (en) * | 2017-09-11 | 2019-03-14 | 南宁宇立仪器有限公司 | Smart polishing method |
| CN108762071A (en) * | 2018-05-10 | 2018-11-06 | 华南理工大学 | A kind of constant force grinding control system and method |
| CN108762071B (en) * | 2018-05-10 | 2023-12-22 | 华南理工大学 | Constant force grinding control system and method |
| CN108784852B (en) * | 2018-06-22 | 2020-10-16 | 雅客智慧（北京）科技有限公司 | Drilling control system and method for dental implant |
| CN108784852A (en) * | 2018-06-22 | 2018-11-13 | 雅客智慧（北京）科技有限公司 | A kind dental drill hole control system and method |
| CN112123060A (en) * | 2020-09-23 | 2020-12-25 | 广东博智林机器人有限公司 | Constant-pressure control method and device for wall surface polishing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103885334A (en) | Polishing and grinding force-position mixed control method and system | |
| Xie et al. | Force control based robotic grinding system and application | |
| Stepanyan et al. | MRAC revisited: guaranteed performance with reference model modification | |
| CA2659324C (en) | System and method for surface finish management | |
| US20190227502A1 (en) | Machine learning device, servo motor controller, servo motor control system, and machine learning method | |
| de Moura et al. | A neuro-fuzzy model for online optimal tuning of PID controllers in industrial system applications to the mining sector | |
| Grieder et al. | Low complexity control of piecewise affine systems with stability guarantee | |
| Zhang et al. | Robotic constant-force grinding control with a press-and-release model and model-based reinforcement learning | |
| CN102707671A (en) | Processing path optimization method applied to machine tool | |
| Rajasekhar et al. | Fractinal order speed control of dc motor using levy mutated artificial bee colony algorithm | |
| US9531321B2 (en) | System and method of online filtering of photovoltaic signals | |
| CN110568761A (en) | Fuzzy control-based feeding speed online optimization method | |
| Martin et al. | Internal model control based on a neurofuzzy system for network applications. a case study on the high-performance drilling process | |
| CN104035378A (en) | Control Device For Servomotor | |
| CN103760830B (en) | The computer numerical control system of automatic adjustment process velocity | |
| Stanković et al. | Fuzzy model reference adaptive control of velocity servo system | |
| CN110618605A (en) | Method for modeling and automatically tuning PID (proportion integration differentiation) parameters of two-axis pan-tilt | |
| Guzmán et al. | Feedforward compensation for PID control loops | |
| Sekban et al. | Model-based Dynamic Fractional-order Sliding Mode Controller Design for Performance Analysis and Control of a Coupled Tank Liquid-level System. | |
| Wang et al. | Nonlinear adaptive control using a fuzzy switching mechanism based on improved quasi-ARX neural network | |
| Biagiotti et al. | Online trajectory planner with constraints on velocity, acceleration and torque | |
| Liu et al. | Constant cutting force control for CNC machining using dynamic characteristic-based fuzzy controller | |
| Kolmanovsky et al. | Toward less conservative designs of multimode controllers for systems with state and control constraints | |
| Sinha et al. | Effect of Variable Damping Ratio on design of PID Controller | |
| CN113065296A (en) | Different-modal stable switching control algorithm based on order reduction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140625 |
|
| RJ01 | Rejection of invention patent application after publication |