CN104044049A - Five-axis linkage polishing system with force feedback control - Google Patents
Five-axis linkage polishing system with force feedback control Download PDFInfo
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- CN104044049A CN104044049A CN201310078929.1A CN201310078929A CN104044049A CN 104044049 A CN104044049 A CN 104044049A CN 201310078929 A CN201310078929 A CN 201310078929A CN 104044049 A CN104044049 A CN 104044049A
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- polishing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
Abstract
The invention discloses a five-axis linkage polishing system with force feedback control. The five-axis linkage polishing system with the force feedback control comprises a robot body, a polishing cutter, a force sensor, a driving module used for driving the robot to move, an IO (input/output) module used for inputting and outputting a signal, and a control module used for system control, wherein the robot body is structurally in a five-axis planer type; one end of the polishing cutter is connected with the robot body; the five axes are respectively a translational axis X, a translational axis Y, a translational axis Z, an axis of swing A and an axis of swing C; the force sensor is installed between the robot body and the polishing cutter and is used for detecting the practical polishing force of the polishing cutter along an axial line when the polishing cutter carries out polishing operation to obtain an error with target polishing force; the position of the robot body is regulated by the error information and the two swinging angle values of the polishing cutter to compensate polishing force; therefore, polishing processing carried out along any polishing track and direction in a three-dimensional space can be realized; the polishing force of any point in the polishing track can be controlled.
Description
Technical field
The present invention relates to the polishing technology field of surface of the work, relate in particular to a kind of five-axle linkage polishing system that function is controlled in force feedback that possesses.
Background technology
In industries such as bathroom, auto parts and components, architectural hardwares, a lot of workpiece need to carry out grinding and buffing, such as tap, shower are first-class.Existing polishing operation is generally to utilize polishing disk or polishing abrasive belt to carry out artificial polishing; this method exists that labour intensity is large, work under bad environment, homogeneity of product are difficult to the shortcoming guaranteeing; and polishing efficiency is low; single-piece workpiece polishing cost of labor is high, is therefore difficult to meet enterprise scale production requirement.At present, more domestic producers take industrial robot or digital control system to carry out polishing operation, but because the development difficulty of robot control system or digital control system is very large, at present domestic only have minority producer to produce; In addition, in polishing operation, existing industrial robot or digital control system only possess the control function to movement locus, can not control polishing force.
In order to realize comparatively complex-curved high accuracy polishing, people are studied exploration.Granted publication number adds a force feedback control system based on PLC for the Chinese patent employing of CN202133890U on polishing machine, realizes polishing power control with industrial robot by network communication.But this method more complicated, need to have a plurality of controllers, between controller, requiring has stable real-time communication guarantee crudy at a high speed.Application number is to adopt and between industrial machine human wrist and grinding head for polishing, install an independently flexible waist additional in the Chinese patent application of CN201110230547.7 and CN201010215314.5, by this independently flexible waist realize the method for polishing force control, it is better that the method is controlled effect, but due to complex structure, and price is high, application is restricted.Application number is in the Chinese patent application of CN201210073920.7, to adopt the three axle polishing machines based on digital control system, yet conventional polisher adopts three kinematic axis cannot continue workpiece to carry out multiaspect processing, need repeatedly to workpiece, carry out clamping and programming, waste a large amount of man-hours, affected operating efficiency.Application number is that the Chinese patent application of CN201110109354.6 has realized five axle polishing machines based on Five Axis CNC System, but this polishing machine does not have polishing force control function, is difficult to guarantee high-precision polishing.
Summary of the invention
Technical purpose of the present invention is to provide a kind of five-axle linkage polishing system, utilize this system not only can treat polishing workpiece and carry out polishing along any polishing locus and direction in three dimensions, and can realize the polishing force control to arbitrfary point in polishing locus.
The present invention realizes the technical scheme that above-mentioned technical purpose adopts:
A kind of five-axle linkage polishing system that possesses force feedback control function, as shown in Figure 1, comprise robot body, polishing tool, power sensor, the driver module for driven machine people motion, the IO module of inputting and exporting for signal and the control module of controlling for system;
As shown in Figure 2, described robot body structure is five axle planer-types, and described polishing tool one end is connected with robot body, the other end can freely swing around this tie point (swinging end that is called polishing tool); Five described axles are X, Y, tri-translation shaft of Z and A, two swinging axles of C, and wherein, any diaxon in X, Y, Z axis is orthogonal, for realizing robot body in the location of three dimensions optional position; The swinging axle of the A axle XY plane that to be polishing tool form with respect to X-axis and Y-axis, C axle is polishing tool swinging axle with respect to X-axis in XY plane, X, Y, Z, A and C axle are for realizing the swinging end of polishing tool in the location of three dimensions optional position;
Described power installation of sensors is between robot body and polishing tool, suppose that the tie point between polishing tool and robot body is M, the a certain contact point of polishing tool and polished workpiece burnishing surface is P, described power sensor for detection of polishing tool when P point carries out polishing operation, along the polishing force of axis PM direction;
During duty, in three dimensions, set polishing tool at the target polished track of burnishing surface, and the target polished power of certain 1 P is Fp in this target polished track; By control module, control driver module, with driven machine human body, move to the M (x in three dimensions, y, z) position, drive polishing tool to carry out polishing at polishing position P point, it is P(x+Lcos (a) cos (c) at three-dimensional coordinate that the swing coordinate figure (a, c) of ordering at P according to polishing tool and length L obtain P point, y+Lcos (a) sin (c), z+Lsin (a)); It is Fc along the actual polishing force of PM direction that power sensor detects at P point, by IO module, input this information to control module, control module is according to the target polished power of ordering at P and the error Fe=Fp-Fc between actual polishing force, controlling driver module revises, amount of feeding dx with Compensating Robot body on three dimensions, dy, dz is respectively (Fe P
fcos (a) cos (c), Fe P
fcos (a) sin (c), Fe P
fsin (a)), P wherein
frefer to the speed of this position correction, thereby realize the polishing force that P orders, reach target polished power.
Described polishing tool and the type of attachment of robot body are not limit, and can be connected by fixture etc.
As a kind of implementation, described P
ffor linear value, be preferably constant.
As a kind of implementation, described IO module comprises digital input module, digital output module, analog input module and analog output module etc.;
As a kind of implementation, described driver module comprises the X-axis servomotor that driven machine people moves along X-axis, the Y-axis servomotor moving along Y-axis, the Z axis servomotor moving along Z axis, the A axle servomotor moving along A axle, the C axle servomotor moving along C axle.Wherein, X-axis servomotor is by X-axis servo driver drives, and Y-axis servomotor is by Y-axis servo driver drives, and Z axis servomotor is by Z axis servo driver drives, A axle servomotor is by A axle servo driver drives, and C axle servomotor is by C axle servo driver drives.
As a kind of implementation, between described control module and driver module, IO module, by EtherCAT bus, realize communication.
As a kind of implementation, described control module comprises controller and controls software, controls running software on controller, realizes robot clear point, manually Jog control, polishing locus control and polishing force control etc.
As a kind of implementation, control software and comprise Polishing Motion planning module, ADS communication module, soft PLC module and human-computer interface module; Wherein,
Polishing Motion planning module runs on non real-time thread, realizes decoding, movement locus and the speed planning of robot language;
ADS communication module is responsible for transmitting data between motion planning module, interpersonal interface module, soft PLC module, comprise the track data of motion planning module is sent to soft PLC module drive motors motion, and send to the interpersonal interface module such as the rotating speed of motor, position, IO signal and show in real time;
Soft PLC module is mainly responsible for the motion control of motor, and IO operation and power control.Soft PLC is real-time program, after receiving the track data that motion planning module sends, according to corresponding speed drive motor movement, to realize five-axle linkage, controls; In addition after having opened power sensor feedback control, power control section, according to the error between the actual polishing force of power sensor feedback and target polished power, is dynamically adjusted the data of five motor shafts, realizable force, Position Hybrid Control;
Human-computer interface module is mainly responsible for user's crawl operation, teaching, parameter setting, the edition function of G code;
Concrete control flow comprises following process:
(1) user, by auto zero function, realizes the clear point operation of five axle robot bodies 18, then inputs the polishing program of polished workpiece;
(2) motion planning module is read in polishing program, and checks grammaticality, then the procedure of textual form is carried out to decoding, and deposits decode results in queue; Then according to decode results, movement locus, speed and the accekeration of five axle robot bodies 18 are calculated in interpolation; Finally interpolation result is deposited in to track data queue and wait for communication module;
(3) ADS communication module sends to soft PLC module by the track data of motion planning module, and with drive motors, moving and send to the interpersonal interface module such as the rotating speed of motor, position, IO signal shows in real time;
(4), after the track data that receives the transmission of motion planning module until soft PLC module, according to corresponding speed drive motor movement, realize five-axle linkage and control; In addition,, after opening force FEEDBACK CONTROL, power control part branch adjusts the data of five motor shafts according to the actual polishing force data of power sensor 4 feedbacks and the error dynamics between target polished power, to realize polishing force, Position Hybrid Control.
As preferably, control software and also comprise motion simulation module, for realizing the emulation of robot motion and limit signal.
This module can adopt the exploitation of Unity3D engine, during operation, control software by the positional information of each axle of ICP/IP protocol transferring robot, emulation module receives after positional information display device people's position and attitude in real time, when opening limit switch copying, can feed back virtual limit switch signal, thus the debugging of accessory system and exploitation.
As a kind of implementation, control software and adopt Visual C++ exploitation based on Bechhoff TwinCAT, realize polishing locus planning and polishing force control, and result of calculation is passed through to TwinCAT ADS and soft PLC communication, and drive motors is realized motion control.
In sum, the invention provides a kind of five-axle linkage polishing system that function is controlled in force feedback that possesses, compare with existing polishing robot, tool has the following advantages:
1, on the basis that complicated track motion control is provided, control combination with force feedback, without extra force feedback control device is installed, only need the power sensor that a single shaft is installed can realize polishing force control, for the polishing of complex-curved parts provides simple and quick solution, reduced the difficulty that user uses;
2, as advantageous measure, the software resource that can give full play to upper PC enriches and the fast advantage of computational speed, absorb the feature of CADCAM, utilizing modeling software to generate after part drawing, recycle rearmounted switching software and be converted into polishing G code, by interpolation operation and force feedback, control and realize high-precision polishing;
3, as advantageous measure, system has motion simulation module, before carrying out actual polishing, can be collided and be interfered by emulation inspection.
Accompanying drawing explanation
Fig. 1 is that the structure that the present invention possesses the 5-shaft linkage numerical control polishing system that force feedback controls forms schematic diagram;
Fig. 2 is the structural representation of planer-type Wu Zhou robot;
Fig. 3 is at polishing state, the tie point M of planer-type Wu Zhou robot and polishing tool and the position of the contact point P of polishing tool and burnishing surface in three dimensions;
Fig. 4 is at polishing state, polishing force FEEDBACK CONTROL schematic diagram;
Fig. 5 is the composition schematic diagram of controlling software in the embodiment of the present invention 1.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, further illustrate the present invention.Should be understood that these embodiment, only for the present invention is described, limit the scope of the invention and be not used in.
In the present embodiment, possesses the 5-shaft linkage numerical control polishing system structure chart of force feedback control as shown in Figure 1, comprise that this five axles robot body 18 of five axle robot body 18(is connected with polishing tool one end), power sensor 4, driver module 20 for driven machine people 18 motions, IO module 3 for signal input with output, and the control module 1 of controlling for system.Wherein, driver module 20 comprises the X-axis servomotor 13 that driven machine people moves along X-axis, the Y-axis servomotor 14 moving along Y-axis, the Z axis servomotor 15 moving along Z axis, the A axle servomotor 16 moving along A axle, and the C axle servomotor 17 moving along C axle.Each servomotor is installed on five axle robot bodies 18, X-axis servomotor 13 is driven by X-axis servo-driver 8, Y-axis servomotor 14 is driven by Y-axis servo-driver 9, Z axis servomotor 15 is driven by Z axis servo-driver 10, A axle servomotor 16 is driven by A axle servo-driver 11, and C axle servomotor 17 is driven by C axle servo-driver 12.
Fig. 2 is the structural representation of five axle robot bodies, and this five axle robot architecture is five axle planer-types, and polishing tool one end is connected with robot body 18, the other end can freely swing around this tie point (swinging end that is called polishing tool); Five described axles are X, Y, tri-translation shaft of Z and A, two swinging axles of C, and wherein, any diaxon in X, Y, Z axis is orthogonal, for realizing robot body 18 in the location of three dimensions optional position; The swinging axle of the A axle XY plane that to be polishing tool form with respect to X-axis and Y-axis, C axle is polishing tool swinging axle with respect to X-axis in XY plane, and X, Y, Z, A and C axle are for realizing the swinging end of polishing tool in the location of three dimensions optional position and direction.That is, X, Y, Z, A, five kinematic axis of C are synchronized with the movement and can realize robot body 18 drive polishing tools moving along arbitrary surface orientation.
The type of attachment of polishing tool and five axle robot bodies 18 is not limit, and can be connected with five axle robot bodies 18 by fixture etc.Sensor 4 is arranged on the connecting portion of five axle robot bodies 18 and polishing tool, while carrying out polishing operation for detection of polishing tool, along be connected with the polishing tool polishing force of axis direction of five axle robot bodies 18.As shown in Figure 3, suppose that the tie point between polishing tool and five axle robot bodies 18 is M, the contact point of polishing tool and polished workpiece burnishing surface is P, when described power sensor 4 carries out polishing operation for detection of polishing tool, along the polishing force of axis PM direction.
As shown in Figure 3, during duty, in X, Y, Z three dimensions, polishing tool one end is connected with five axle robot bodies 18, and the other end carries out polishing operation at polished surface of the work.Set polishing tool at the target polished track of burnishing surface, and the target polished power of certain 1 P is Fp in this target polished track; By control module 1, draw corresponding position command and control driver module 20, to drive five axle robot body 18 motions, drive polishing tool to carry out polishing operation at burnishing surface.When the tie point of five axle robot bodies 18 and polishing tool moves to the M position in three dimensions, the three dimensional space coordinate of M is M(x, y, z), and polishing tool is (a, c) at the swing coordinate of A, C axle.According to polishing tool length L, obtaining the coordinate of P point in X, Y, Z three dimensions is:
In polishing process, to detect at P point be Fc along the actual polishing force of PM direction to power sensor 4, by IO module 3, input these information to control module 1, control module 1 is according to the target polished power of ordering at P and the error Fe=Fp-Fc between actual polishing force, controlling the position of 20 pairs of five axle robot bodies 18 of driver module revises, revise the amount of feeding dx of five axle robot bodies 18 in three dimensions X, Y, Z direction, dy, dz.Control module 1 is by the original position instruction that is added to of this correction value, controlling driver module 20 drives five axle robot bodies 18 to move to revised position, make the actual polishing force of P reach target polished power Fp, thereby mix and control by power/position, realized high-quality surface finish processing.The control block diagram that this force feedback and position are adjusted as shown in Figure 4.
In Fig. 4, force controller is for controlling the speed that robot location is revised.In the present embodiment, this force controller adopts simple linear scale controller, supposes that proportionality coefficient is Pf, and five axle robot bodies 18 in the position command correction value of X, Y, Z axis are:
IO module 3 comprises digital input module, digital output module, analog input module, and support EtherCAT real-time network agreement.In the present embodiment, IO module is used for connecting the devices such as relay 21, approach switch 5, frequency converter 6, power sensor 4, its repeat circuit 21, frequency converter 6 connect digital output module, and approach switch 5 connects digital input module, power sensor 4 connecting analog input modules.The control end of relay 21 is connected with digital output module, and actuating station is connected with motor brake 7 control ends, realizes the brake of software control motor.Approach switch 5 is installed on five axle robot bodies 18, for back to zero bit manipulation and the limit function of each axle of robot.Frequency converter 6 is connected with digital output module, controls rotating and the rotating speed of electric grinder 19 and controls.
Control module 1 comprises controller and controls software.Control running software on controller, realize robot clear point, manually Jog control, polishing locus control and polishing force control etc.In the present embodiment, control module 1 is form connection IO module 3 and the driver module 20 with daisy chain by EtherCAT bus 2.
Fig. 5 is the detailed process that in the present embodiment, control module 1 is controlled five axle robot bodies 18.Control software and comprise five parts, be respectively motion planning module, ADS communication module, soft PLC module, human-computer interface module, motion simulation module.
Motion planning module runs on non real-time thread, realizes decoding, movement locus and the speed planning of robot language.
ADS communication module is responsible for transmitting data between motion planning module, interpersonal interface module, soft PLC module, comprise the track data of motion planning module is sent to soft PLC module drive motors motion, and send to the interpersonal interface module such as the rotating speed of motor, position, IO signal and show in real time.
Soft PLC module is mainly responsible for the motion control of motor, and IO operation and power control.Soft PLC is real-time program, execution cycle is 2ms, after receiving the track data that motion planning module sends over, according to corresponding speed drive motor movement, realizing five-axle linkage controls, in addition after having opened force feedback control, power control part branch adjusts the data of five motor shafts, realizable force, Position Hybrid Control according to the actual polishing force data of power sensor 4 feedbacks and the error dynamics between target polished power.
Human-computer interface module is mainly responsible for user's crawl operation, teaching, parameter setting, the edition function of G code.
Motion simulation module can realize the emulation of robot motion and limit signal, this module adopts the exploitation of Unity3D engine, during operation, control software by the positional information of each axle of ICP/IP protocol transferring robot, emulation module receives after positional information display device people's position and attitude in real time, when opening limit switch copying, can feed back virtual limit switch signal, thus the debugging of accessory system and exploitation.
Concrete control flow is as follows:
(1) user, by auto zero function, realizes the clear point operation of five axle robot bodies 18, then inputs the polishing program of polished workpiece;
(2) motion planning module is read in polishing program, and checks grammaticality, then the procedure of textual form is carried out to decoding, and deposits decode results in queue; Then according to decode results, movement locus, speed and the accekeration of five axle robot bodies 18 are calculated in interpolation; Finally interpolation result is deposited in to track data queue and wait for communication module;
(3) ADS communication module sends to soft PLC module by the track data of motion planning module, and with drive motors, moving and send to the interpersonal interface module such as the rotating speed of motor, position, IO signal shows in real time;
(4), after the track data that receives the transmission of motion planning module until soft PLC module, according to corresponding speed drive motor movement, realize five-axle linkage and control; In addition,, after opening force FEEDBACK CONTROL, power control part branch adjusts the data of five motor shafts according to the actual polishing force data of power sensor 4 feedbacks and the error dynamics between target polished power, to realize polishing force, Position Hybrid Control.
Above-described embodiment has been described in detail technical scheme of the present invention; be understood that and the foregoing is only specific embodiments of the invention; be not limited to the present invention; all any modifications of making within the scope of principle of the present invention, supplement or similar fashion substitutes etc., within all should being included in protection scope of the present invention.
Claims (8)
1. possess force feedback and control a five-axle linkage polishing system for function, it is characterized in that: comprise robot body, polishing tool, power sensor, the driver module for driven machine people motion, the IO module of inputting and exporting for signal and the control module of controlling for system;
Described robot body structure is five axle planer-types; Polishing tool one end is connected with robot body, and the other end can freely swing around this tie point; Five described axles are X, Y, tri-translation shaft of Z and A, two swinging axles of C, and wherein, any diaxon in X, Y, Z axis is orthogonal, for realizing robot body in the location of three dimensions optional position; The swinging axle of the A axle XY plane that to be polishing tool form with respect to X-axis and Y-axis, C axle is polishing tool swinging axle with respect to X-axis in XY plane, and X, Y, Z, A and C axle are for realizing the swinging end of polishing tool in the location of three dimensions optional position and direction;
Described power installation of sensors is between robot body and cutter, suppose that the tie point between polishing tool and robot body is M, the a certain contact point of polishing tool and polished workpiece burnishing surface is P, described power sensor for detection of cutter when P point carries out polishing operation, along the polishing force of axis PM direction;
During duty, in three dimensions, set polishing tool at the target polished track of burnishing surface, and the target polished power of certain 1 P is Fp in this target polished track; By control module, control driver module, with driven machine human body, move to the M (x in three dimensions, y, z) position, drive polishing tool to carry out polishing at polishing position P point, it is P(x+Lcos (a) cos (c) at three-dimensional coordinate that the swing coordinate figure (a, c) of ordering at P according to polishing tool and length L obtain P point, y+Lcos (a) sin (c), z+Lsin (a)); It is Fc along the actual polishing force of PM direction that power sensor detects at P point, by IO module, input this information to control module, control module is according to the target polished power of ordering at P and the error Fe=Fp-Fc between actual polishing force, controlling driver module revises, the amount of feeding (dx with Compensating Robot body on three dimensions, dy, dz) be respectively (Fe P
fcos (a) cos (c), Fe P
fcos (a) sin (c), Fe P
fsin (a)), P wherein
frefer to the speed of this position correction, thereby realize the polishing force that P orders, reach target polished power.
2. a kind of five-axle linkage polishing system that function is controlled in force feedback that possesses according to claim 1, is characterized in that: described polishing tool is connected by fixture with robot body.
3. a kind of five-axle linkage polishing system that function is controlled in force feedback that possesses according to claim 1, is characterized in that: between described control module and driver module, IO module, by EtherCAT bus, realize communication.
4. a kind of five-axle linkage polishing system that function is controlled in force feedback that possesses according to claim 1, it is characterized in that: described driver module comprises the X-axis servomotor that driven machine people moves along X-axis, the Y-axis servomotor moving along Y-axis, the Z axis servomotor moving along Z axis, the A axle servomotor moving along A axle, the C axle servomotor moving along C axle; Wherein, X-axis servomotor is by X-axis servo driver drives, and Y-axis servomotor is by Y-axis servo driver drives, and Z axis servomotor is by Z axis servo driver drives, A axle servomotor is by A axle servo driver drives, and C axle servomotor is by C axle servo driver drives.
5. a kind of five-axle linkage polishing system that function is controlled in force feedback that possesses according to claim 1, it is characterized in that: described control module comprises controller and controls software, control running software on controller, realize robot clear point, manually Jog control, polishing locus control and polishing force control.
6. a kind of five-axle linkage polishing system that function is controlled in force feedback that possesses according to claim 5, is characterized in that: described control software comprises Polishing Motion planning module, ADS communication module, soft PLC module, human-computer interface module; Concrete control flow is as follows:
(1) user inputs the polishing program of polished workpiece;
(2) Polishing Motion planning module reads in polishing program, and checks grammaticality, then the procedure of textual form is carried out to decoding, and deposits decode results in queue; Then according to decode results interpolation computing machine human body's movement locus, speed and accekeration; Finally interpolation result is deposited in to track data queue and wait for communication module;
(3) ADS communication module sends to soft PLC module by the track data of Polishing Motion planning module, and drive motors moves and sends to the human-computer interface module such as the rotating speed of motor, position, IO signal and shows in real time;
(4), after the track data that receives the transmission of motion planning module until soft PLC module, according to corresponding speed drive motor movement, realize five-axle linkage and control; In addition,, after opening force FEEDBACK CONTROL, power control part branch adjusts the data of five motor shafts according to the actual polishing force data of power sensor 4 feedbacks and the error dynamics between target polished power, to realize polishing force, Position Hybrid Control.
7. a kind of five-axle linkage polishing system that function is controlled in force feedback that possesses according to claim 6, is characterized in that: described control software also comprises motion simulation module, for realizing the emulation of robot motion and limit signal.
8. a kind of five-axle linkage polishing system that function is controlled in force feedback that possesses according to claim 1, is characterized in that: described P
ffor linear value.
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| CN111922824A (en) * | 2020-08-14 | 2020-11-13 | 苏州大学 | Stepless control system and control method for part edge grinding |
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| CN112872920A (en) * | 2021-03-01 | 2021-06-01 | 中国工程物理研究院机械制造工艺研究所 | Robot magnetorheological polishing normal positioning actuator and method based on force feedback |
| CN113696058A (en) * | 2021-10-29 | 2021-11-26 | 龙口通力汽车零部件制造有限公司 | Automobile part polishing device convenient for angle adjustment |
| CN114029789A (en) * | 2021-11-16 | 2022-02-11 | 武汉理工大学 | Curved surface polishing robot polishing method and system based on track correction |
| CN115026714A (en) * | 2022-02-08 | 2022-09-09 | 东莞市春草研磨科技有限公司 | Multi-station independent force control compensation control system with RTCP function |
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| CN111922824A (en) * | 2020-08-14 | 2020-11-13 | 苏州大学 | Stepless control system and control method for part edge grinding |
| CN112548833A (en) * | 2020-12-29 | 2021-03-26 | 南京波特光电有限公司 | Optical lens polishing control system |
| CN112872920A (en) * | 2021-03-01 | 2021-06-01 | 中国工程物理研究院机械制造工艺研究所 | Robot magnetorheological polishing normal positioning actuator and method based on force feedback |
| CN113696058A (en) * | 2021-10-29 | 2021-11-26 | 龙口通力汽车零部件制造有限公司 | Automobile part polishing device convenient for angle adjustment |
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