CN104044049B - A kind of five-axle linkage polishing system possessing force-feedback control - Google Patents
A kind of five-axle linkage polishing system possessing force-feedback control Download PDFInfo
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- CN104044049B CN104044049B CN201310078929.1A CN201310078929A CN104044049B CN 104044049 B CN104044049 B CN 104044049B CN 201310078929 A CN201310078929 A CN 201310078929A CN 104044049 B CN104044049 B CN 104044049B
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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 present invention discloses a kind of five-axle linkage polishing system possessing force-feedback control function, comprises robot body, polishing cutter, force transducer, the driving module for driven machine people motion, the I/O module for signal constrained input and the control module for Systematical control; This robot body structure is five axle gantry formulas, and polishing cutter one end is connected with robot body, and five axles are X, Y, Z tri-translation shaft and A, C two swing axles; Force transducer is arranged between robot body and polishing cutter, for detecting polishing cutter actual polishing force along axis when polishing operation, obtain the error between target polished power, this error information and polishing cutter is utilized to be adjusted the position of robot body two angle of oscillation angle value, to compensate the size of polishing force, thus not only can realize the polishing that any polishing locus and direction carry out along three-dimensional space, and can realize the polishing force control put arbitrarily in polishing locus.
Description
Technical field
The present invention relates to the polishing technology field of workpiece surface, particularly relate to a kind of five-axle linkage polishing system possessing force-feedback control function.
Background technology
Defending the industries such as bath, automobile component, building five metals, a lot of workpiece needs to carry out grinding and buffing, and such as water tap, shower are first-class. Existing polishing operation is generally utilize polishing disk or polishing abrasive belt to carry out artificial polishing; there is the shortcoming that labour intensity is big, work under bad environment, product consistence are difficult to ensure in this kind of method; and polishing efficiency is low; single-piece workpiece polishing cost of labor height, therefore, it is 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 due to the development difficulty of robot control system or digital control system very big, domestic only minority producer can produce at present; In addition, in polishing operation, existing industrial robot or digital control system only possess the controlling functions to motion track, can not be controlled by polishing force.
In order to realize comparatively complex-curved high precision polishing, people have carried out research and probe. The Chinese patent that Authorization Notice No. is CN202133890U adopts an interpolation force-feedback control system based on PLC on polishing machine, realizes the control of polishing power with industrial robot by network communication.But, this kind of Measures compare complexity, it is necessary to have multiple controller, requires stable real-time communication at a high speed and could ensure processing quality between controller. Application number be CN201110230547.7 and CN201010215314.5 Chinese patent application in adopt between industrial machine human wrist and grinding head for polishing, install an independent flexible waist additional, the method of polishing force control is realized by this independent flexible waist, the method control effects is better, but due to complex structure, and price height, application is restricted. Application number be CN201210073920.7 Chinese patent application in adopt the three axle polishing machines based on digital control system, but conventional polisher adopts three motion axles cannot continue workpiece is carried out multiaspect processing, repeatedly workpiece need to be carried out clamping and programming, waste a large amount of man-hour, have impact on working efficiency. The Chinese patent application that application number is CN201110109354.6 achieves five axle polishing machines based on Five Axis CNC System, but this polishing machine does not have polishing force control function, it is very difficult to ensure the polishing of high precision.
Summary of the invention
The 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 any polishing locus and direction along three-dimensional space and carry out polishing, and can realize the polishing force control put arbitrarily in polishing locus.
The present invention realizes the technical scheme that above-mentioned technical purpose adopts:
A kind of five-axle linkage polishing system possessing force-feedback control function, as shown in Figure 1, robot body, polishing cutter, force transducer, the driving module for driven machine people motion, the I/O module for signal constrained input and the control module for Systematical control is comprised;
As shown in Figure 2, described robot body structure is five axle gantry formulas, and described polishing cutter one end is connected with robot body, and the other end can freely swing (swinging end being called polishing cutter) around this tie point; Five described axles are X, Y, Z tri-translation shaft and A, C two swing axles, and wherein, any diaxon in X, Y, Z axis is orthogonal, for realizing the location of robot body optional position in three dimensions; A axle is the swing axle of the X/Y plane that polishing cutter is formed relative to X-axis and Y-axis, and C axle is polishing cutter swing axle relative to X-axis in X/Y plane, and X, Y, Z, A and C axle are for the location of the swinging end optional position in three dimensions that realizes polishing cutter;
Described force transducer is arranged between robot body and polishing cutter, assume that the tie point between polishing cutter and robot body is M, the a certain point of contact of polishing cutter and polished workpiece polished surface is P, described force transducer for detecting polishing cutter when P point carries out polishing operation, along the polishing force in axis PM direction;
During working order, in three dimensions, setting polishing cutter is at the target polished track of polished surface, and the target polished power of certain 1 P is Fp in this target polished track; Module is driven by control module control, M (the x in three-dimensional space is moved to driven machine human body, y, z) position, driving polishing cutter to carry out polishing at polishing position P point, obtaining P point at the coordinate of three-dimensional space according to polishing cutter in swing coordinate figure (a, c) of P point and length L is P(x+Lcos (a) cos (c), y+Lcos (a) sin (c), z+Lsin (a));It is Fc that force transducer detects out at P point along the actual polishing force in PM direction, this information is inputted to control module by I/O module, control module is according to the error Fe=Fp-Fc between the target polished power and actual polishing force of P point, control drives module to revise, to compensate the amount of feed dx of robot body on three-dimensional space, dy, dz are respectively (FePfcos(a)cos(c),FePfcos(a)sin(c),FePfSin (a)), wherein PfRefer to the speed for this position correction, thus the polishing force realizing P point reaches target polished power.
Described polishing cutter and the type of attachment of robot body are not limit, it is possible to be connected by fixture.
As a kind of implementation, described PfFor linear value, it is preferable to constant.
As a kind of implementation, described I/O module comprises numeral load module, digital output module, analog input module and analog output module etc.;
As a kind of implementation, described driving module comprises the X-axis servomotor that driven machine people moves along X-axis, along the Y-axis servomotor that Y-axis is moved, along the Z axle servomotor that Z axle moves, along the A axle servomotor that A axle moves, along the C axle servomotor that C axle moves. Wherein, X-axis servomotor is by X-axis servo driver drives, and Y-axis servomotor is by Y-axis servo driver drives, and Z axle servomotor is by Z axle servo driver drives, A axle servomotor is by A axle servo driver drives, and C axle servomotor is by C axle servo driver drives.
Communication is realized by EtherCAT bus between module, I/O module as a kind of implementation, described control module and driving.
As a kind of implementation, described control module comprises controller and control software design, and control software design runs on controller, it is achieved robot back to zero point, manually Jog control, polishing locus control and polishing force control etc.
As a kind of implementation, control software design comprises Polishing Motion planning module, ADS communication module, soft PLC module and human-computer interface module; Wherein,
Polishing Motion planning module runs in non-real-time thread, it is achieved the decoding of robot language, motion track and speed planning;
ADS communication module is responsible between motion planning module, interpersonal interface module, soft PLC module to transmit data, comprise and the track data of motion planning module is sent to the motion of soft PLC module drive-motor, and send to the interpersonal interface module such as the rotating speed of motor, position, I/O signal and show in real time;
The motion control of soft PLC module primary responsibility motor, and I/O operation and power control. Soft-PLC is real-time program, after receiving the track data that motion planning module is sent, according to the motion of corresponding speed drive-motor, to realize five-axle linkage control; In addition after opening force transducer feedback control, power control part according to force transducer feedback actual polishing force and target polished power between error, the data of dynamic conditioning five motor shafts, it is achieved power, Position Hybrid Control;
The point of human-computer interface module primary responsibility user moves operation, teaching, optimum configurations, the edition function of G code;
Concrete control flow process comprises following process:
(1) user is by auto zero function, it is achieved the back to zero point operation of wu-zhi-shan pig body 18, then inputs the polishing program of polished workpiece;
(2) motion planning module reads in polishing program, and checks grammer exactness, then the work program of textual form is carried out decoding, and by decode results stored in queue;Then the motion track of wu-zhi-shan pig body 18, speed and acceleration angle value is calculated according to decode results interpolation; Finally by interpolation result stored in modules to be communicated such as track data queues;
(3) track data of motion planning module is sent to soft PLC module by ADS communication module, moves with drive-motor and sends to the interpersonal interface module such as the rotating speed of motor, position, I/O signal and show in real time;
(4) receive after the track data that motion planning module sends until soft PLC module, move according to corresponding speed drive-motor, it is achieved five-axle linkage controls; In addition, after opening force-feedback control, power control part can adjust the data of five motor shafts according to the error dynamics between the actual polishing force data that force transducer 4 feeds back and target polished power, to realize polishing force, Position Hybrid Control.
As preferably, control software design also comprises motion simulation module, for realizing the emulation of robot motion and limit signal.
This module can adopt Unity3D engine to develop, run the positional information of control software by each axle of TCP/IP protocol transmission robot, emulation module receives after positional information can the position of display device people and attitude in real time, virtual limit switch signal can be fed back when opening limit switch copying, thus the debugging of subsystem and exploitation.
As a kind of implementation, control software design adopts VisualC++ exploitation based on BechhoffTwinCAT, it is achieved polishing locus planning and polishing force control, and by calculation result by TwinCATADS and Soft-PLC communication, and drive-motor realizes motion control.
In sum, the present invention provides a kind of five-axle linkage polishing system possessing force-feedback control function, and compared with existing polishing robot, tool has the following advantages:
1, be combined with force-feedback control on the basis that complicated track motion control is provided, without the need to installing extra force-feedback control device, the force transducer that only need to install a single shaft can realize polishing force control, for the polishing of complex-curved component provides simple and quick solution, reduce the difficulty that user uses;
2, as advantageous measure, the advantage that software resource is abundant and computing velocity is fast of upper PC can be given full play to, absorb the feature of CADCAM, after utilizing modeling software to generate parts drawing, recycle rearmounted switching software and it is converted into polishing G code, realized the polishing of high precision by interpolation operation and force-feedback control;
3, as advantageous measure, system has motion simulation module, before carrying out actual polishing, it is possible to checks collision by emulation and interferes.
Accompanying drawing explanation
Fig. 1 is the structure composition schematic diagram that the present invention possesses the 5-shaft linkage numerical control polishing system of force-feedback control;
Fig. 2 is the structural representation of gantry formula wu-zhi-shan pig;
Fig. 3 is in polishing work state, the tie point M of gantry formula wu-zhi-shan pig and polishing cutter and the point of contact P of polishing cutter and polished surface position in three dimensions;
Fig. 4 is in polishing work state, polishing force feedback control schematic diagram;
Fig. 5 is the composition schematic diagram of control software design in the embodiment of the present invention 1.
Embodiment
Below in conjunction with accompanying drawing and embodiment, illustrate the present invention further. It will be understood that these embodiments are only for illustration of the present invention, and it are not used in and limit the scope of the invention.
In the present embodiment, the 5-shaft linkage numerical control polishing system structure iron possessing force-feedback control is as shown in Figure 1, comprise this wu-zhi-shan pig body 18 of wu-zhi-shan pig body 18(to be connected with polishing cutter one end), force transducer 4, for the driving module 20 that driven machine people 18 moves, for the I/O module 3 of signal constrained input, and the control module 1 for Systematical control.Wherein, drive module 20 to comprise X-axis servomotor 13 that driven machine people moves along X-axis, the Y-axis servomotor 14 moved along Y-axis, the Z axle servomotor 15 moved along Z axle, the A axle servomotor 16 that moves along A axle, and along the C axle servomotor 17 that C axle moves. Each servomotor is installed on wu-zhi-shan pig body 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 axle servomotor 15 is driven by Z axle 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 wu-zhi-shan pig body, and this wu-zhi-shan pig structure is five axle gantry formulas, and polishing cutter one end is connected with robot body 18, and the other end can freely swing (swinging end being called polishing cutter) around this tie point; Five described axles are X, Y, Z tri-translation shaft and A, C two swing axles, and wherein, any diaxon in X, Y, Z axis is orthogonal, for realizing the location of robot body 18 optional position in three dimensions; A axle is the swing axle of the X/Y plane that polishing cutter is formed relative to X-axis and Y-axis, C axle is polishing cutter swing axle relative to X-axis in X/Y plane, and X, Y, Z, A and C axle are for the location in the swinging end optional position and the direction in three dimensions that realize polishing cutter. That is, X, Y, Z, A, C five motion axles are synchronized with the movement and can realize robot body 18 and drive polishing cutter moving along arbitrary surface orientation.
The type of attachment of polishing cutter and wu-zhi-shan pig body 18 is not limit, it is possible to be connected with wu-zhi-shan pig body 18 by fixture. Sensor 4 is arranged on wu-zhi-shan pig body 18 connecting portion with polishing cutter, for detect polishing cutter carry out polishing operation time, the polishing force in the axis direction that is connected with polishing cutter along wu-zhi-shan pig body 18. As shown in Figure 3, assume that the tie point between polishing cutter and wu-zhi-shan pig body 18 is M, the point of contact of polishing cutter and polished workpiece polished surface is P, when described force transducer 4 carries out polishing operation for detecting polishing cutter, along the polishing force in axis PM direction.
As shown in Figure 3, during working order, in X, Y, Z three-dimensional space, polishing cutter one end is connected with wu-zhi-shan pig body 18, and the other end carries out polishing operation at polished workpiece surface. Setting polishing cutter is at the target polished track of polished surface, and the target polished power of certain 1 P is Fp in this target polished track; Draw corresponding position command by control module 1 and control to drive module 20, to drive wu-zhi-shan pig body 18 to move, drive polishing cutter to carry out polishing operation at polished surface. When the tie point of wu-zhi-shan pig body 18 with polishing cutter moves to the M position in three-dimensional space, the three dimensional space coordinate of M is M(x, y, z), and polishing cutter is (a, c) at the swing coordinate of A, C axle. Obtaining the coordinate of P point in X, Y, Z three-dimensional space according to polishing tool length L is:
In polishing process, force transducer 4 detects out at P point along the actual polishing force in PM direction is Fc, this information is inputted to control module 1 by I/O module 3, control module 1 is according to the error Fe=Fp-Fc between the target polished power and actual polishing force of P point, control drives module 20 to be revised the position of wu-zhi-shan pig body 18, namely the amount of feed dx of wu-zhi-shan pig body 18 in three-dimensional space X, Y, Z-direction is revised, dy, dz.This modified value is added to original position instruction by control module 1, control the position after driving module 20 to drive wu-zhi-shan pig body 18 to move to correction, the actual polishing force of P is made to reach target polished power Fp, thus by power/position mixture control, it is achieved that high-quality surface finish is processed. The control block diagram of this force feedback and position adjustment is as shown in Figure 4.
In Fig. 4, force controller is for controlling the speed that robot location revises. In the present embodiment, this force controller adopts simple linear scaling controller, it is assumed that scale-up factor is Pf, then wu-zhi-shan pig body 18 in the position command modified value of X, Y, Z axis is:
I/O module 3 comprises numeral load module, digital output module, analog input module, and supports the real-time procotol of EtherCAT. In the present embodiment, I/O module is for connecting the devices such as rly. 21, proximity switch 5, frequency transformer 6, force transducer 4, its repeat circuit 21, frequency transformer 6 connect digital output module, and proximity switch 5 connects numeral load module, force transducer 4 connecting analog load module. The control end of rly. 21 is connected with digital output module, performs end and is connected with motor brake 7 control end, it is achieved the brake of software control motor. Proximity switch 5 is installed on wu-zhi-shan pig body 18, for back to zero bit manipulation and the limit function of each axle of robot. Frequency transformer 6 is connected with digital output module, the rotating of control electric mill head 19 and rotating speed control.
Control module 1 comprises controller and control software design. Control software design runs on controller, it is achieved robot back to zero point, manually Jog control, polishing locus control and polishing force control etc. In the present embodiment, control module 1 connects I/O module 3 and driving module 20 by EtherCAT bus 2 with the form of daisy chain.
Fig. 5 is the detailed process that in the present embodiment, control module 1 controls wu-zhi-shan pig body 18. Control software design comprises five parts, is respectively motion planning module, ADS communication module, soft PLC module, human-computer interface module, motion simulation module.
Motion planning module is run in non-real-time thread, it is achieved the decoding of robot language, motion track and speed planning.
ADS communication module is responsible between motion planning module, interpersonal interface module, soft PLC module to transmit data, comprise and the track data of motion planning module is sent to the motion of soft PLC module drive-motor, and send to the interpersonal interface module such as the rotating speed of motor, position, I/O signal and show in real time.
The motion control of soft PLC module primary responsibility motor, and I/O operation and power control. Soft-PLC is real-time program, performance period is 2ms, after receiving the track data that motion planning module sends over, five-axle linkage control is realized according to the motion of corresponding speed drive-motor, in addition after opening force-feedback control, power control part can adjust the data of five motor shafts according to the error dynamics between the actual polishing force data that force transducer 4 feeds back and target polished power, it is achieved power, Position Hybrid Control.
The point of human-computer interface module primary responsibility user moves operation, teaching, optimum configurations, 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, run the positional information of control software by each axle of TCP/IP protocol transmission robot, emulation module receives after positional information can the position of display device people and attitude in real time, virtual limit switch signal can be fed back when opening limit switch copying, thus the debugging of subsystem and exploitation.
Concrete control flow process is as follows:
(1) user is by auto zero function, it is achieved the back to zero point operation of wu-zhi-shan pig body 18, then inputs the polishing program of polished workpiece;
(2) motion planning module reads in polishing program, and checks grammer exactness, then the work program of textual form is carried out decoding, and by decode results stored in queue; Then the motion track of wu-zhi-shan pig body 18, speed and acceleration angle value is calculated according to decode results interpolation; Finally by interpolation result stored in modules to be communicated such as track data queues;
(3) track data of motion planning module is sent to soft PLC module by ADS communication module, moves with drive-motor and sends to the interpersonal interface module such as the rotating speed of motor, position, I/O signal and show in real time;
(4) receive after the track data that motion planning module sends until soft PLC module, move according to corresponding speed drive-motor, it is achieved five-axle linkage controls; In addition, after opening force-feedback control, power control part can adjust the data of five motor shafts according to the error dynamics between the actual polishing force data that force transducer 4 feeds back and target polished power, to realize polishing force, Position Hybrid Control.
The technical scheme of the present invention has been described in detail by above-described embodiment; it it should be understood that and the foregoing is only specific embodiments of the invention; it is not limited to the present invention; all make in the spirit of the present invention any amendment, supplement or similar fashion replacement etc., all should be included within protection scope of the present invention.
Claims (8)
1. possess a five-axle linkage polishing system for force-feedback control function, it is characterized in that: comprise robot body, polishing cutter, force transducer, the driving module for driven machine people motion, the I/O module for signal constrained input and the control module for Systematical control;
Described robot body structure is five axle gantry formulas; Polishing cutter one end is connected with robot body, and the other end can freely swing around tie point; Five described axles are X, Y, Z tri-translation shaft and A, C two swing axles, and wherein, any diaxon in X, Y, Z axis is orthogonal, for realizing the location of robot body optional position in three dimensions; A axle is the swing axle of the X/Y plane that polishing cutter is formed relative to X-axis and Y-axis, C axle is polishing cutter swing axle relative to X-axis in X/Y plane, and X, Y, Z, A and C axle are for the location in the swinging end optional position and the direction in three dimensions that realize polishing cutter;
Described force transducer is arranged between robot body and cutter, assume that the tie point between polishing cutter and robot body is M, the a certain point of contact of polishing cutter and polished workpiece polished surface is P, described force transducer for detecting cutter when P point carries out polishing operation, along the polishing force in axis PM direction;
During working order, in three dimensions, setting polishing cutter is at the target polished track of polished surface, and the target polished power of certain 1 P is Fp in this target polished track; Module is driven by control module control, M (the x in three-dimensional space is moved to driven machine human body, y, z) position, driving polishing cutter to carry out polishing at polishing position P point, obtaining P point at the coordinate of three-dimensional space according to polishing cutter in swing coordinate figure (a, c) of P point and length L is P (x+Lcos (a) cos (c), y+Lcos (a) sin (c), z+Lsin (a)); It is Fc that force transducer detects out at P point along the actual polishing force in PM direction, this information is inputted to control module by I/O module, control module is according to the error Fe=Fp-Fc between the target polished power and actual polishing force of P point, control drives module to revise, to compensate the amount of feed (dx of robot body on three-dimensional space, dy, dz) it is respectively (FePfcos(a)cos(c),FePfcos(a)sin(c),FePfSin (a)), wherein PfRefer to the speed for this position correction, thus the polishing force realizing P point reaches target polished power.
2. a kind of five-axle linkage polishing system possessing force-feedback control function according to claim 1, is characterized in that: described polishing cutter is connected by fixture with robot body.
3. a kind of five-axle linkage polishing system possessing force-feedback control function according to claim 1, is characterized in that: described control module and driving realize communication by EtherCAT bus between module, I/O module.
4. a kind of five-axle linkage polishing system possessing force-feedback control function according to claim 1, it is characterized in that: described driving module comprises the X-axis servomotor that driven machine people moves along X-axis, along the Y-axis servomotor that Y-axis is moved, along the Z axle servomotor that Z axle moves, along the A axle servomotor that A axle moves, along the C axle servomotor that C axle moves; Wherein, X-axis servomotor is by X-axis servo driver drives, and Y-axis servomotor is by Y-axis servo driver drives, and Z axle servomotor is by Z axle 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 possessing force-feedback control function according to claim 1, it is characterized in that: described control module comprises controller and control software design, control software design runs on controller, it is achieved robot back to zero point, manually Jog control, polishing locus control and polishing force control.
6. a kind of five-axle linkage polishing system possessing force-feedback control function according to claim 5, is characterized in that: described control software design comprises Polishing Motion planning module, ADS communication module, soft PLC module, human-computer interface module; Concrete control flow process is as follows:
(1) user inputs the polishing program of polished workpiece;
(2) Polishing Motion planning module reads in polishing program, and checks grammer exactness, then the work program of textual form is carried out decoding, and by decode results stored in queue; Then according to the motion track of decode results interpolation computing machine human body, speed and acceleration angle value; Finally by interpolation result stored in modules to be communicated such as track data queues;
(3) track data of Polishing Motion planning module is sent to soft PLC module by ADS communication module, and the rotating speed of motor, position, I/O signal are also sent to human-computer interface module and show in real time by drive-motor motion;
(4) receive after the track data that motion planning module sends until soft PLC module, move according to corresponding speed drive-motor, it is achieved five-axle linkage controls; In addition, after opening force-feedback control, power control part can adjust the data of five motor shafts according to the error dynamics between the actual polishing force data of force transducer feedback and target polished power, to realize polishing force, Position Hybrid Control.
7. a kind of five-axle linkage polishing system possessing force-feedback control function according to claim 6, is characterized in that: described control software design also comprises motion simulation module, for realizing the emulation of robot motion and limit signal.
8. a kind of five-axle linkage polishing system possessing force-feedback control function according to claim 1, is characterized in that: described PfFor linear value.
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