CN107962480B - A kind of blade robot sbrasive belt grinding processing force control method - Google Patents
A kind of blade robot sbrasive belt grinding processing force control method Download PDFInfo
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- CN107962480B CN107962480B CN201711214352.7A CN201711214352A CN107962480B CN 107962480 B CN107962480 B CN 107962480B CN 201711214352 A CN201711214352 A CN 201711214352A CN 107962480 B CN107962480 B CN 107962480B
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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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
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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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of blade robot sbrasive belt grindings to process force control method, includes the following steps: the modulation and processing of voltage signal；Power after conversion is compensated；Power control strategy.Wherein, the modulation Yu processing of voltage signal include: the voltage signal for obtaining six channels of sensor；Software filtering is carried out to the voltage signal of acquisition；Force signal is converted by filtered voltage signal.Compensate to the power after conversion includes: the drift compensating of sensor itself and the gravity compensation of robot end's load.Power control strategy includes: force-location mix control and PI/PD control.Blade robot sbrasive belt grinding processing force control method of the invention can not only improve the efficiency of grinding, the situation for overcoming artificial grinding consistency poor, it can also realize that constant force griding is processed, make its surfacing removal amount more uniformity, while improving the precision and surface quality of processing, and improve the surface conformance of blade.
Description
Technical field
The present invention relates to industrial robot application fields more particularly to a kind of blade robot sbrasive belt grinding operating force to control
Method.
Background technique
Grinding at present mainly has a biggish advantage in simple geometric shape part field, such as part is outer
Circle grinding, internal grinding and flat surface grinding etc..But complex-curved grinding is finished, traditional equipment for grinding and technique
Method lacks flexibility, and adaptability is poor, and time-consuming, costly for modification technique, it is often more important that most of at present to be all
Artificial grinding, for example, aerial blade, turbine blade etc. are ground industry.It is low which results in grinding efficiencies, product one
Cause property is poor, seriously hinders productivity dynamics；And the grinding environment at scene is poor, has to the health of personnel biggish latent
It is threatening.
Patent document CN103507070 discloses the robot controller that power control is carried out using triaxial force sensor,
Power control is carried out by the non-detectable power of estimation triaxial force sensor and torque.This device passes through setting force evaluating point,
Then force evaluating is carried out to estimation point, and then force evaluating point is modified, complete power control.And this device is that robot adds
Tool is held, workpiece is processed.
But the disclosed robot for carrying out power control using triaxial force sensor of patent document CN103507070 controls dress
Set that there are the following problems:
(1) it is robot aid tool in above patent document, operation, therefore the force evaluating point control proposed is carried out to workpiece
System is all based on device as robot aid tool with amendment.
(2) force control method of above-mentioned patent be by the non-detectable power of estimation triaxial force sensor and torque come into
The control of row power, i.e., carry out force evaluating to the estimation point of setting, be modified to carry out force evaluating point.
(3) force control method of above-mentioned patent is estimation power control, thus power control precision is not high, can not apply and complexity
The processing of curved surface part.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of blade robot sbrasive belt grinding processing
Force control method, its object is to the difference according to processing object, specific parameter setting is different, the technological parameter of processing
Setting is also different.By the control to grinding force in process, the process of grinding can be relatively accurately controlled, it can not only
Enough improve the efficiency of grinding, the situation for overcoming artificial grinding consistency poor, additionally it is possible to realize that constant force griding is processed,
Make its surfacing removal amount more uniformity, while improving the precision and surface quality of processing, and improves blade
Surface conformance.
To achieve the above object, the present invention provides a kind of blade robot sbrasive belt grinding processing force control method, including such as
Lower step:
S101: converting force signal for the voltage signal that sensor obtains, and by processing and Grinding Process power phase
It is corresponding, and monitor the variation of power in real time；
S102: being controlled and handled to the power monitored, keep its grinding force constant, and wanting for constant force griding processing is met
It asks；
S103: the voltage signal in six channels of sensor is obtained；
S104: processing is modulated to the voltage signal of acquisition；
S105: converting force signal for the voltage signal of processing, thus the variation of perception indirectly；
S106: carrying out drift compensation to it, reduces sensor itself and introduces error；
S107: transducer tip is loaded and carries out gravity compensation；
S108: compensated power being transformed under basis coordinates system, then is transformed under tool coordinates system, thus directly corresponding
Process power in processing；
S109: power/position mixing control defines two complementary, mutually orthogonal spaces, while realization to power and position
Control；
S110:PI/PD control, eliminates biggish power deviation, obtains faster system responsiveness, to obtain more ideal
Power output, realize blade robot sbrasive belt grinding operating force control.
Further preferred as the present invention, the control of power includes the following steps: in Grinding Process in step S102
S201: judge that the size of actual grinding force and theoretical reference load, IF actual forces > reference load are then transferred to step
S202；
S202: its Z axis negative direction feed motion of Robot；
S203:IF actual forces≤reference load, then be transferred to step S204；
S204: its Z axis positive direction feed motion of Robot；
S205: corresponding theory machine people location information is calculated according to actual forces；
S206: robot grinding processing coefficient rigidity is converted into the location information that robot can identify, is completed corresponding
Position movement；
S207: by adjusting the control of constant force griding operating force is completed.
Further preferred as the present invention, the robot grinding processes coefficient calculating method of stiffness are as follows:
Wherein, FZIt is actual forces, K, B, M is method rigidity, the inertia of the grinding processing method of damping and robot, Δ Z
It is the biasing of robot in z-direction.
It is further preferred as the present invention, if actual forces are kept off with theoretical power, pass through the robot grinding
Processing coefficient calculating method of stiffness calculates corresponding offset or dish, to be further converted to the position that robot can identify
Then it is passed to robot control cabinet by point information, robot can carry out feed motion along Z positive direction or negative direction, until
Practical grinding force and theoretical grinding force are equal or close.
Further preferred as the present invention, the power/position mixing control and PI/PD control are applied and are sat in cartesian space
When in mark system, Controlling model are as follows:
Wherein, FDIt is input power, XDIt is cartesian space expectation displacement, XfIt is the displacement exported after power control, XpIt is position
The displacement exported after control, FeIt is power output, XeIt is comprehensive displacement, s is related coefficient, kppAnd kpdIt is using PD position control
Related coefficient, kfpAnd kfiIt is the related coefficient of PI power control.
Further preferred as the present invention, the voltage signal in six channels described in step S103 passes through ATI six-dimensional force
Sensor obtains.
As the present invention it is further preferred, the six-dimension force sensor by be in " Y " word arrangement three foil gauges come
The variation of voltage is perceived, each is separated by 120 ° in space.
Further preferred as the present invention, step S104 includes software filtering and burning voltage section.
As further preferred, two complementary, mutually orthogonal non-coplanar force spaces described in step S109 of the invention
And locational space.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
(1) blade robot sbrasive belt grinding processing control method of the invention, it is specific according to the difference of processing object
Parameter setting is different, and the technological parameter setting of processing is also different.It, can be more smart by the control to grinding force in process
The process of grinding really is controlled, the efficiency of grinding can not only be improved, overcomes artificial grinding consistency poor
Situation, additionally it is possible to realize constant force griding process, make its surfacing removal amount more uniformity, improve processing precision
While with surface quality, and improve the surface conformance of blade.
(2) blade robot sbrasive belt grinding processing control method of the invention, robot, which accommodates blade and be ground, to be added
Work, wherein the contact wheel of polished machine is that elastic connecting wheel trolley has certain yielding in process, can be realized the soft of abrasive band
Property grinding.
(3) blade robot sbrasive belt grinding processing control method of the invention, grinding force (is primarily referred to as in process
FZ) determined according to specific processing object, processing environment and corresponding technological parameter；Blade is again according to the position of processing simultaneously
The size of different grinding forces difference.
(4) blade robot sbrasive belt grinding processing control method of the invention, the acquisition and processing of voltage signal pass through filter
The signal conditions such as wave and burning voltage section mode removes noise, can guarantee the stabilization of voltage signal, will not because of external
It interferes and is mutated.
(5) blade robot sbrasive belt grinding processing control method of the invention, the subsequent drift compensating that power is carried out
And gravity compensation, it can be further reduced influence of the external environment to sensor itself, make its compensated power close to true power.
(6) blade robot sbrasive belt grinding processing control method of the invention, after compensation, when grinding, display
Power is exactly grinding force, characterizes the effect of grinding indirectly by controlling this power.In the case where grinding force sets reasonable situation,
When using constant force griding processing, the surface processing consistency of blade is preferable, and surface roughness is within 0.4 μm, energy
Enough meet its surface quality requirements.
Detailed description of the invention
Fig. 1 is a kind of blade robot sbrasive belt grinding operating force control principle drawing of the embodiment of the present invention；
Fig. 2 is power control principle drawing in a kind of blade robot abrasive band constant force griding process of the embodiment of the present invention；
Fig. 3 is that a kind of blade robot sbrasive belt grinding operating force control strategy of the embodiment of the present invention applies rear corresponding machine
Device people's motion process figure；
Fig. 4 is a kind of blade robot sbrasive belt grinding machining sketch chart of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below that
Not constituting conflict between this can be combined with each other.
Fig. 1 is a kind of blade robot sbrasive belt grinding operating force control principle drawing of the embodiment of the present invention.As shown in Figure 1,
A kind of blade robot sbrasive belt grinding processing force control method specifically includes in the present embodiment:
The acquisition and monitoring of S101, grinding force, the voltage signal for obtaining sensor are converted into force signal, and by it
Processing, it is corresponding with Grinding Process power, and monitor the variation of power in real time；
The control strategy of S102, grinding force, for being controlled to the power monitored in robot sbrasive belt grinding process
System and processing, keep its grinding force constant, meet the requirement of constant force griding processing；
S103, the voltage signal that six channels are obtained by ATI six-dimension force sensor；
S104, the voltage signal of acquisition is handled, comprising: software filtering and burning voltage section etc.；
S105, force signal is converted by certain formula by the voltage signal after conditioning, thus the change of perception indirectly
Change；
S106, sextuple sensor perceive the variation of voltage by three foil gauges of " Y " word arrangement, and each in space phase
Every 120 °, be affected by external environment (such as: temperature and humidity etc.), therefore, when its end zero load, need to its into
Row drift compensation, reduces and introduces error；
The fixture and blade that S107, transducer tip are installed, gravity be can not ignore, therefore be more directly reaction grinding
The process power of processing needs to load transducer tip progress gravity compensation；
Power after S108, promoting menstruation overcompensation be under sensor coordinate system, and grinding force need under tool coordinates system, because
This needs for compensated power to be transformed under basis coordinates system, is then transformed under tool coordinates system again；
S109, power/position mixing control define two complementary, mutually orthogonal spaces: power space, locational space, real
Control while to power and position is showed；
S110, PI control have the advantage that form is simple, be easy discretization realize, without steady-state error, can eliminate compared with
Big power deviation obtains more preferably output action power；PD control can obtain faster system response time.Therefore, position
Control law uses PD control, and power control law is controlled using PI, to realize that constant force griding is processed.
Fig. 2 is power control principle drawing in a kind of blade robot abrasive band constant force griding process of the embodiment of the present invention,
As shown in Fig. 2, power control principle includes: in constant force griding process of the invention
S201: judge the size of actual grinding force and theoretical reference load, IF actual forces > reference load；
S202: its Z axis negative direction feed motion of Robot；
S203: judge the size of actual grinding force and theoretical reference load, IF actual forces≤reference load；
S204: its Z axis positive direction feed motion of Robot；
S205: Robot Stiffness calculation formula, Fz=K Δ Z；
S206: according to above-mentioned Rigidity Calculation formula, being converted into the location information that robot can identify for corresponding power,
To complete corresponding position movement；
S207: actual measurement power is equal to reference load, completes the control of constant force griding operating force；
S208: the theoretical machining path of segregation reasons；
S209: actual processing path adjusted is controlled through exertin.
When power/position mixing control and PI control are applied in cartesian space coordinate system, Controlling model is as follows:
Wherein, FDIt is input power, XfIt is the displacement exported after power control, XpIt is the displacement exported after position control, FeIt is defeated
Power output, XeIt is comprehensive displacement, kppAnd kpdIt is the related coefficient using PD position control, kfpAnd kfiIt is the correlation of PI power control
Coefficient.
Since contact force is mainly at tool coordinates system T relative to the grinding force of Z-direction, power control strategy is also mainly
For FZ, because the power on this direction influences maximum to the quality of grinding, meanwhile, suffered power is also on this direction
Maximum, therefore power control strategy mainly controls grinding force suffered by Z-direction, keeps constant it, to realize that constant force is ground
Processing is cut, the surface quality and consistency of processing are improved.
Regard robot processing system as a rigid body, Grinding Process is to interact work with external environment
With then according to nonlinear New-tonian rule, then:
Wherein, K, B, M are method rigidity, and the inertia of the grinding processing method of damping and robot, Δ Z is robot in Z
Biasing on direction.
Because the speed that robot is kept constant in Grinding Process, and the variation of its velocity and acceleration is basic
It is considered that close to zero, therefore above-mentioned formula simplifies are as follows:
Fz=K Δ Z
By the real time monitoring to grinding force, so that it is adjusted in real time, in Fig. 2, at current time, if
Actual forces are kept off with theoretical power, then process coefficient rigidity formula by above-mentioned robot grinding and calculate corresponding offset
From it is then passed to robot control cabinet, machine to be further converted to the location point information that robot can identify
People can carry out feed motion along Z positive direction or negative direction, until practical grinding force and theoretical grinding force are equal or close.S208
For the theoretical machining path of off-line programing, there is no application of force control strategy, and S209 is real-time to carry out after application of force control strategy
Machining path adjusted.By carrying out discrete and interpolation to the path of processing, keep its machining path more steady and processing side
Method is more stable, meets the needs of complicated processing environment.
Fig. 3 is that power control strategy provided by the invention applies rear corresponding robot kinematics figure.S301 is point of safes.
Shown in referring to figure 3., S302 is the points of proximity, and S303 is starting point, and S304 is transition point, and S305 is end point, and S306 is to leave
Point.Because robot is the movement of point-to-point, the machining path of segregation reasons is all made of a series of point, therefore in machine
When people is close to abrasive band on polished machine contact wheel, i.e., the adjustment of power control is completed in starting point, reaches constant power, thus
Carry out grinding.In powerlessly control, program path is from S301 to S303；And after power control application, robot motion
Path, again to S303, is equivalent to from S301 to S302 and has carried out interpolation S302, make its motion path more gently with stabilization.
A grinding path is shown in Fig. 3, and the grinding path of blade is added as a series of Fig. 3
Work path composition, and each path is all made of a series of processing stand.And these points are all after using power control strategy
The location point being adjusted can be realized constant force griding when robot is processed along such path, complete power control
Requirement.
Fig. 4 is blade robot sbrasive belt grinding machining sketch chart provided by the invention.As shown in figure 4, S401 is robot,
S402 is robot end's flange, and S403 is the ring flange that robot is connect with sensor, and S404 is ATI six-dimension force sensor,
S405 is the ring flange that sensor is connected with fixture, and S406 is frock clamp, and S407 is workpiece blade, and S408 is abrasive band,
S409 is the contact wheel of polished machine.In the method, robot accommodates blade progress grinding, the wherein contact of polished machine
Wheel is that elastic connecting wheel trolley has certain yielding in process, can be realized the flexible grinding in abrasive band.And it is processed
Grinding force (is primarily referred to as F in journeyZ) determined according to specific processing object, processing environment and corresponding technological parameter；Simultaneously
Blade is again according to the size of the position difference grinding force of processing difference, and under normal circumstances, blade is compared in the processing into trailing edge
The processing on surface, the grinding force applied are much smaller.According to the process requirements of this method, grinding force control of the blade into trailing edge
System is between 15N-35N, and the control of grinding force of blade surface is between 30N-80N.Theoretical grinding force cannot be arranged excessive,
Otherwise blade can be scrapped because of overground.
The acquisition and processing of voltage signal in process of the present invention pass through the signal conditions sides such as filtering and burning voltage section
Formula removes noise, can guarantee the stabilization of voltage signal, will not be mutated because of external interference.It is subsequent to power carry out
Drift compensating and gravity compensation can be further reduced influence of the external environment to sensor itself, keep its compensated
Power is close to true power.After compensation not in contact with when, under quiescent conditions, grinding force fluctuates within ± 1N, in robot with 50mm/s
Speed feeding when, grinding force fluctuates within ± 3N, this is because the steady-state error of sensor itself and its end load
It is caused, there is randomness.Therefore after compensation, when grinding, the power of display is exactly grinding force, by control this power come
The effect of characterization grinding indirectly.In the case where grinding force sets reasonable situation, when using constant force griding processing, blade
Surface processing consistency is preferable, and surface roughness can satisfy its surface quality requirements within 0.4 μm.
For force control method proposed by the present invention according to the difference of processing object, specific parameter setting is different, processing
Technological parameter setting it is also different.By the control to grinding force in process, grinding can be relatively accurately controlled
Process makes its surfacing removal amount more uniformity, while meeting its surface quality, and improves the surface of blade
Consistency to raising processing efficiency, improves the important in inhibiting such as operating environment.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (7)
1. force control method is processed in a kind of blade robot sbrasive belt grinding, which comprises the steps of:
S101: converting force signal for the voltage signal that sensor obtains, and by processing it is corresponding with Grinding Process power,
And monitor the variation of power in real time；
S102: being controlled and handled to the power monitored, keep its grinding force constant, and the requirement of constant force griding processing, packet are met
Include following steps:
S201: judge that the size of actual grinding force and theoretical reference load, IF actual forces > reference load are then transferred to step S202；
S202: its Z axis negative direction feed motion of Robot；
S203:IF actual forces≤reference load, then be transferred to step S204；
S204: its Z axis positive direction feed motion of Robot；
S205: corresponding theory machine people location information is calculated according to actual forces；
S206: robot grinding processing coefficient rigidity is converted into the location information that robot can identify, completes corresponding position
Set movement；
S207: by adjusting the control of constant force griding operating force is completed；
S103: the voltage signal in six channels of sensor is obtained；
S104: processing is modulated to the voltage signal of acquisition；
S105: converting force signal for the voltage signal of processing, thus the variation of perception indirectly；
S106: carrying out drift compensation to it, reduces sensor itself and introduces error；
S107: transducer tip is loaded and carries out gravity compensation；
S108: compensated power being transformed under basis coordinates system, then is transformed under tool coordinates system, thus in directly corresponding processing
Process power；
S109: power/position mixing control defines two complementary, mutually orthogonal spaces, controls while realization to power and position；
S110:PI/PD control, eliminates biggish power deviation, obtains faster system responsiveness, to obtain more ideal defeated
Power output realizes the control of blade robot sbrasive belt grinding operating force；
When the power/position mixing control and PI/PD control are applied in cartesian space coordinate system, Controlling model are as follows:
Wherein, FDIt is input power, XDIt is cartesian space expectation displacement, XfIt is the displacement exported after power control, XpIt is position control
The displacement exported afterwards, XcFor the position quantity obtained after being controlled by power, FeIt is power output, XeIt is comprehensive displacement, s is phase relation
Number, kppAnd kpdIt is the related coefficient using PD position control, kfpAnd kfiIt is the related coefficient of PI power control.
2. force control method is processed in a kind of blade robot sbrasive belt grinding according to claim 1, which is characterized in that described
Robot grinding processes coefficient calculating method of stiffness are as follows:
Wherein, FZIt is actual forces, K, B, M is method rigidity, and the inertia of the grinding processing method of damping and robot, Δ Z is machine
The biasing of people in z-direction.
3. force control method is processed in a kind of blade robot sbrasive belt grinding according to claim 1, which is characterized in that if
Actual forces are kept off with theoretical power, then process coefficient calculating method of stiffness by the robot grinding and calculate corresponding biasing
Then it is passed to robot control cabinet, machine to be further converted to the location point information that robot can identify by distance
Device people can carry out feed motion along Z positive direction or negative direction, until practical grinding force and theoretical grinding force are equal or close.
4. force control method is processed in a kind of blade robot sbrasive belt grinding according to claim 1, which is characterized in that step
The voltage signal in six channels described in S103 is obtained by ATI six-dimension force sensor.
5. force control method is processed in a kind of blade robot sbrasive belt grinding according to claim 4, which is characterized in that described
Six-dimension force sensor perceives the variation of voltage by three foil gauges in " Y " word arrangement, and each is separated by 120 ° in space.
6. force control method is processed in a kind of blade robot sbrasive belt grinding according to claim 1, which is characterized in that step
S104 includes software filtering and burning voltage section.
7. force control method is processed in a kind of blade robot sbrasive belt grinding according to claim 1, which is characterized in that step
Two complementary, mutually orthogonal non-coplanar force spaces and locational space described in S109.
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| CN109623590B (en) * | 2018-11-23 | 2020-09-18 | 华中科技大学 | Full-digital rigid-flexible coupling precise force control grinding and polishing device and control method |
| CN109664295B (en) * | 2018-12-13 | 2021-12-21 | 华南理工大学 | Robot abrasive belt grinding constant force control method and device based on one-dimensional force sensor |
| CN110605721A (en) * | 2019-10-24 | 2019-12-24 | 苏州艾利特机器人有限公司 | Mechanical arm dragging teaching method based on terminal six-dimensional force sensor |
| CN110744406A (en) * | 2019-10-29 | 2020-02-04 | 华中科技大学 | Blade profile grinding and polishing self-adaptive machining system and method through robot |
| CN111452049B (en) * | 2020-04-16 | 2022-04-05 | 珠海格力智能装备有限公司 | Robot motion control method and device |
| CN111644981B (en) * | 2020-05-15 | 2021-06-01 | 吉林大学 | Cylinder type bionic multi-dimensional force sensor |
| CN111843714B (en) * | 2020-06-15 | 2022-02-15 | 华中科技大学 | Three-degree-of-freedom grinding and polishing device and force and position coupling control method thereof |
| CN114310571B (en) * | 2020-09-27 | 2023-05-26 | 中国科学院沈阳自动化研究所 | Intelligent control method in robot automatic grinding operation process |
| CN113899541A (en) * | 2021-10-29 | 2022-01-07 | 西安工业大学 | Abrasive belt grinding experiment table based on constant force control and experiment method thereof |
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| EP1987406B1 (en) * | 2006-02-23 | 2010-08-04 | Abb Ab | A system for controlling the position and orientation of an object in dependence on received forces and torques from a user |
| CN103507070B (en) * | 2012-06-25 | 2015-11-18 | 发那科株式会社 | Triaxial force sensor is used to carry out the robot controller of power control |
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| 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 |
| CN106041926B (en) * | 2016-06-12 | 2018-10-19 | 哈尔滨工程大学 | A kind of industrial machinery arm strength/Position Hybrid Control method based on Kalman filter |
| CN106041933A (en) * | 2016-07-06 | 2016-10-26 | 上海交通大学 | Robot polishing and grinding system and passive compliance and active compliance mixed control method |
| CN106625153A (en) * | 2016-10-31 | 2017-05-10 | 哈尔滨展达机器人自动化有限责任公司 | Blade grinding robot workstation and blade grinding method |
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