CN109664295A - Robot belt sanding constant force control method and device based on one-dimensional force snesor - Google Patents
Robot belt sanding constant force control method and device based on one-dimensional force snesor Download PDFInfo
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- CN109664295A CN109664295A CN201811523895.1A CN201811523895A CN109664295A CN 109664295 A CN109664295 A CN 109664295A CN 201811523895 A CN201811523895 A CN 201811523895A CN 109664295 A CN109664295 A CN 109664295A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Abstract
The invention discloses the robot belt sanding constant force control methods based on one-dimensional force snesor, comprising the following steps: according to force analysis, obtains the power mapping relations of each coordinate system；By polishing normal force and tangential force relationship, the power mapping relations of contact force and sensor coordinate system are established and simplified；By polishing deformation and grinding depth relationship, polishing kinetic model is established；Adaptive sliding mode iterative control algorithm is designed, and establishes power Controlling model；According to power mapping relations and power Controlling model, force controller is designed；By feedback force, application of force mapping relations calculate polishing normal force, and are input to force controller and calculate normal direction offset, then be transferred to control module；The present invention carries out the control of robot belt sanding power on one-dimensional force snesor, avoids the high cost problem of multi-dimension force sensor, while reducing control complexity；Using simple, parameter setting is convenient, effectively compensates for uncertainty bring error when belt sanding, is suitable for practical polishing.
Description
Technical field
The present invention relates to the research fields of robot belt sanding power control, the in particular to machine based on one-dimensional force snesor
Device people's belt sanding constant force control method and device.
Background technique
As a kind of finishing step, high material removing rate had not only been may be implemented in sbrasive belt grinding, but also can be used for improving component
Surface roughness.And when belt sanding mixes multivariant industrial robot, so that it may flexible manufacturing unit is formed, it is special
It is not suitable for the more complicated workpiece of the geometry of finished surface, such as turbo blade or tap, it is thus also avoided that such as processing ring
Health of human body problem caused by border, processing efficiency is low, and labor cost increases year by year, and stability is poor, and process consistency is not enough etc.
The frequent problem in manual grinding sum number control bruting process.
Therefore, many scholars have done numerous studies to the processing of robot belt sanding, and wherein some research, which is directed to, beats
Grind trajectory planning problem.Although trajectory planning can improve the processing quality of workpiece to a certain extent, light carries out robot
Trajectory planning is unable to reach the processing request of robot belt sanding, so need to carry out power control to robot belt sanding,
To obtain high material removing rate, and then improve polishing quality.
The control of robot belt sanding power can be divided into be controlled by dynamic Control and active force.Wherein, main by dynamic Control
It is the compliant mechanism by some auxiliary, robot is enable to generate nature compliance to polishing power when contacting with grinding wheel.It should
Although control method can effectively improve polishing quality, the dynamic range of force-responsive and the precision of terminal position are reduced.
In order to overcome these existing for dynamic Control insufficient, active force control just comes into being and becomes nowadays robot
One Main way of research field.Currently, the research for the control of robot active force can be classified as two classes substantially: based on biography
The power control of system strategy and the power based on intelligent strategy control, wherein traditional control method is broadly divided into power/position mixing control again
System and impedance control.Although these traditional power control strategies can reach certain control effect, due to beating in robot
There are non-linear and a large amount of uncertainty in mill, these control methods is caused to be extremely difficult to satisfied effect.In order to overcome
These problems, related researcher propose the intelligent control method that can calculate optimization control parameter in real time, but need certain
The training of amount can be only achieved control effect.There are also scholars to propose adaptive impedance control, passes through directly or indirectly two kinds
Method makes it have preferable force tracking effect in the case where environmental parameter is unknown, but in adjustment process it is excessive from
It adapts to gain parameter and is unfavorable for actual application.
Summary of the invention
The shortcomings that it is a primary object of the present invention to overcome the prior art and deficiency, provide the machine based on one-dimensional force snesor
Device people's belt sanding constant force control method.Stress condition when according to grinding workpieces, when to polishing between cutter tips and workpiece
Contact force model carry out force analysis and obtaining corresponding power mapping relations, through discussion with verifying polishing normal force and tangential
Relationship between power, reduced force mapping relations, to establish the mapping relations of power on polishing normal force and one-dimensional sensor；Pass through
The relationship of deformation and grinding depth when inquiring into polishing, establishes the robot belt sanding kinetic model based on deformation；It proposes certainly
Sliding formwork iterative algorithm is adapted to, and corresponding power Controlling model is proposed according to algorithm, is closed further according to power Controlling model and power mapping
System's design controller simultaneously obtains specific control flow, to realize the purpose of control robot end's polishing normal force.
Another object of the present invention is to provide the robot belt sanding constant force control devices based on one-dimensional force snesor.
The main object of the present invention is realized by the following technical solution:
Robot belt sanding constant force control method based on one-dimensional force snesor, comprising the following steps:
S1, the stress condition according to bruting process, to the contact force between the polishing workpiece and grinding wheel of robot end
Force analysis is carried out, the power mapping relations between sensor coordinate system and grinding wheel coordinate system are obtained；By polishing normal force and
The power mapping relations that contact force is fastened with sensor coordinates are established and simplified to the relationship of tangential force；
S2, by the relationship of polish deformation and grinding depth, establish robot grinding wheel based on deformation and polish dynamics
Model；
S3, design adaptive sliding mode iterative control algorithm, and according to robot grinding wheel polishing kinetic model, establish phase
The power Controlling model answered；
S4, according to contact force and power mapping relations and corresponding power Controlling model that sensor coordinates are fastened, design is corresponding
Adaptive sliding mode iteration constant force controller；
S5, it is counted by the received power of one-dimensional force snesor using the power mapping relations that contact force and sensor coordinates are fastened
It calculates normal direction polishing power and is fed back, the contact force of feedback is input to corresponding adaptive sliding mode iteration constant force controller,
To obtain the offset of a normal direction, and the offset of normal direction is transferred to control module and is controlled.
Further, the step S1, specifically:
T1, according to polishing when model, establish the position orientation relation between coordinate system: force snesor coordinate system, grinding wheel is sat
Mark system, wherein force snesor coordinate origin is the geometric center of sensor, and force snesor coordinate system X-direction is sensor axis
Line direction, force snesor coordinate system Y direction are the radial direction of sensor, and force snesor coordinate system Z-direction is according to coordinate
The right-hand rule of system determines；The origin of grinding wheel coordinate system is located on the abrasive band surface of grinding wheel center radially, abrasive band
Wheel coordinate system X-direction is grinding wheel radial direction, and grinding wheel coordinate system Y direction is grinding wheel axial direction, and grinding wheel is sat
Mark system Z-direction according to the right-hand rule of coordinate system determine, and polish when two coordinate systems Z axis it is parallel；
T2, the power in bruting process is analyzed, if FtAnd FnPolishing tangential force respectively on grinding wheel coordinate system and
Normal force, F'tAnd F'nIt indicates FtAnd FnThe power being transferred on force snesor coordinate system, FxAnd FyRespectively indicate one dimension force sensing
The power of X-axis and Y-axis on device, then have:
By above formula, polishing normal force and the tangential force on grinding wheel coordinate system are found out:
Wherein, θ is angle between the Y-axis of two coordinate systems；
T3, the relationship for establishing on grinding wheel coordinate system polish normal force and tangential force:
Fn=η Ft,
Wherein, η is polish on grinding wheel coordinate system normal force and tangential force ratio；
T4, according to step T2 and step T3, obtain the power F of one dimension force sensors X axisxWith method of polishing on grinding wheel coordinate system
To power FnBetween relationship:
Fx=Fn(cosθ-sinθ/η)；
Final control purpose is to make power FnReach constant force, but FnIt can not directly obtain, need to pass through FxIt calculates, in controller
Power be Fn, therefore the F for needing to obtain by sensorxIt needs to be converted into F by the formulan；
Further, the step S2, specifically:
U1, grinding force kinetic model is established:
Wherein, fpIt (t) is normal grinding force, m is component of the system inertia matrix in polishing power normal orientation, and c is to be
Damping matrix unite in the component in power normal orientation of polishing, k is component of the grinding process rigidity in polishing power normal orientation, x
It (t) is cutter perpendicular to the position of workpiece surface, i.e. grinding depth；The respectively first derivative of x (t) and second order
Derivative；
Robot end's stress condition in U2, analysis bruting process, establishes robot end's stress model:
F (t)=fp(t)+fs(t),
Wherein, fsIt (t) is the deformation force of robot in bruting process；
The relationship of U3, research polishing normal force and grinding depth, establish the relationship of polishing deflection and deformation force:
δx(t)=x*(t)-x (t),
fs(t)=ksδx(t),
Wherein, δxIt (t) is cutter perpendicular to the polishing deflection of workpiece surface, x* (t) is the grinding depth of planning, ksFor
The static rigidity of robot polishing system；
U4, according to the relational expression of step U1, step U2, step U3, obtain the robot belt sanding power based on deformation
Learn model:
Further, the step S3, specifically:
V1, according to polishing power error, design sliding formwork state:
ex(t)=fx(t)-fxd(t),
Wherein, λ is sliding-mode surface coefficient, Sx(t) to polish sliding formwork state when, ex(t)、Respectively polishing power error
With the first derivative of polishing power error；fx(t)、The respectively single order of moment practical polishing power and moment practical polishing power is led
Number；fxd(t)、The respectively first derivative of moment expectation polishing power and moment expectation polishing power；
V2, according to step S2 establish the robot belt sanding kinetic model and step V1 based on deformation sliding formwork shape
State then has:
Wherein, m is component of the system inertia matrix in polishing power normal orientation, and c is system damping matrix in polishing power
Component in normal orientation, k are component of the grinding process rigidity in polishing power normal orientation, SxiCunning when for i-th iteration
Mould state；WithThe respectively first derivative and second dervative of the sliding-mode surface of working depth composition；
And have:
Wherein, SxiFor actual polishing power sliding-mode surface, Sai(t) sliding-mode surface constituted for working depth, SδiIt (t) is processing
The sliding-mode surface of deformation construction, Sf(t) sliding-mode surface constituted for ideal operating force；δxi(t) andIt is polishing deformation in workpiece method
Component and its first derivative on line direction；
V3, according to step V2 and desired sliding formwork state, i.e. Sxi=0, obtain power Controlling model:
Further, the step S4, specifically:
W1, according to step S1 simplify power mapping relations and step S3 power Controlling model, design corresponding adaptive sliding
The control law of mould iteration constant force controller:
G (Δ x (t))=ksSδi(t),
Wherein,
ei(t)=Sxd(t)-Sxi(t),
Wherein, G () is for normal direction offset and by relationship, e between the sliding-mode surface of robot deformation constructioni(t) andFor
Sliding formwork surface error and its first derivative, SxdIt (t) is ideal polishing power sliding-mode surface,For the adaptive of (i-1)-th iteration
,For the adaptive item of i-th iteration, γ is iteration coefficient, and i is iteration coefficient, kp、kdIt is greater than zero for given
Number；
W2, it proposes to support above-mentioned algorithm stability to constringent related it is assumed that being used for the proof of algorithm stability:
Assuming that the unknown parameters of system, and system meets following hypothesis:
Assuming that 1: the original state of system is consistent and repeatable, i.e. Sa1(0)=Sa2(0)=...=Sai(0)；
Assuming that 2: sliding-mode surface SxiAnd Sai, their first derivativeWithSecond dervativeWithAnd SfBounded；
Assuming that 3:|kSai| >=ε, β and ε are the constant greater than zero.
Further, the step S5, specifically:
Y1, pass through one-dimensional reception strength sensor signal, the force signal of simulation is transferred to by I/O module by signal amplifier
Processing；
Y2, I/O module convert analog signals into digital signal and are transferred to host computer；
Y3, host computer are host computer real-time control system, calculate normal direction offset according to control law；
Y4, calculated normal direction offset is passed through into I/O resume module and is transferred to robot control cabinet, robot control
Signal, control robot are mobile based on the received for cabinet.
Another object of the present invention is realized by the following technical solution:
Robot belt sanding constant force control device based on one-dimensional force snesor, which is characterized in that include control device
And grinding device；
The control device includes: one-dimensional force snesor, signal amplifier, I/O module, host computer, robot control cabinet,
Six-DOF robot；
The grinding device includes: belt grinder, workpieces processing fixture；
Wherein, workpieces processing fixture, one-dimensional force snesor, clamping sensor fixture be sequentially connected, be located at six degree of freedom
Robot front end, six-DOF robot and I/O module are connected to host computer, and six-DOF robot and robot control cabinet connect
It is connected to I/O module；
The host computer is handled for receiving I/O module transfer signal, is given after processing using I/O module transfer
Robot control cabinet
It further, further include signal amplifier, the signal amplifier connects with one-dimensional sensor and I/O module respectively
It connects, for receiving one-dimensional sensor signal and received signal being sent to I/O module.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1, the present invention carries out the control of robot belt sanding power on one-dimensional force snesor, avoids and is passed using multi-dimensional force
The high cost problem of sensor bring, while also reducing the complexity of control process；
2, control method application proposed by the present invention is simple and parameter setting is simple, moreover it is possible to when effectively compensating for belt sanding
Uncertain bring error is suitable for actual polishing.
Detailed description of the invention
Fig. 1 is the method flow of the robot belt sanding constant force control method of the present invention based on one-dimensional force snesor
Figure；
Fig. 2 is the signal transmitting of the robot belt sanding constant force control method of the present invention based on one-dimensional force snesor
Figure；
Fig. 3 is the structure chart of the robot belt sanding constant force control device of the present invention based on one-dimensional force snesor；
Fig. 4 is the robot of the robot belt sanding constant force control device of the present invention based on one-dimensional force snesor
End partial enlarged view；
Fig. 5 is the adaptive sliding mode iteration control figure in embodiment of the present invention；
Fig. 6 is the force analysis figure in embodiment of the present invention in bruting process；
Fig. 7 is i-th iteration flow chart in embodiment of the present invention；
Fig. 8 is adaptive item in embodiment of the present inventionCalculation flow chart.
In figure, 1- belt grinder, 2- workpieces processing, 3- workpieces processing fixture, the one-dimensional force snesor of 4-, 5- clamping sensing
The fixture of device, 6- signal amplifier, 7-I/O module, 8- host computer, 9- robot control cabinet, 10- six-DOF robot, 11-
Grinding wheel.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment
Robot belt sanding constant force control method based on one-dimensional force snesor, as shown in Figure 1,
Fig. 2 show the signal transmission figure of the robot belt sanding constant force control algolithm based on one-dimensional force snesor；Fig. 3
It is the structure chart of the robot belt sanding constant force control device based on one-dimensional force snesor；Fig. 4 is based on one-dimensional force snesor
Robot belt sanding constant force control device in robot end partial enlarged view.The concrete application step of device are as follows: first
Embedded real-time control system is first run on PC host and opens relay；Robotic gripper workpiece walks rail pre-planned
Mark is polished；Digital signal is converted by the analog signal acquired on force snesor by I/O module and passes through Ethercat
Agreement transfers the signal to the embedded real-time control system in PC；With adaptive sliding mode iteration control proposed by the present invention
Method calculates offset；The offset of digital signal is converted into analog signal by I/O and is conveyed to robot control cabinet；Machine
Device people passes through the analog signal for -10~10V that the embedded software in control cabinet is received Jing Guo I/O resume module during the motion
And and control that robot is mobile, and wherein offset displacement direction is consistent with analog signal symbol, offset displacement and absolute value of voltage at
Direct ratio, the analog filter frequency of force snesor are 2500Hz, and the sample frequency of embedded real-time control system is 1ms, control
Connection of the output voltage frequency of system between 100ms and Ethercat and robot control cabinet is the biography by robot
What sensor function was realized.
Specific control process schematic diagram is as shown in figure 5, pass through sensor for robot end's power fx(t) feedback arrives control
Device, with desired polishing power fxd(t) it carries out that difference is asked to calculate polishing power error ex(t), its first derivative is then calculated
And current polishing sliding formwork state Sxi(t), with desired polishing state Sxd(t) it carries out that difference is asked to obtain error ei(t), pass through the mistake
Difference and the adaptive item for combining iteration coefficient γ and last iterationCalculate iteration step lengthTo calculate normal direction
Offset Δ x (t) by the amount of the positive inverse kinematics calculating robot offset and be input to control system simultaneously and controlled,
It is reflected in polishing power on force snesor by the effect of G (Δ x (t)) and environment of polishing simultaneously.
The power and grinding wheel fastened according to the available sensor coordinates of the force analysis of coordinate system position orientation relation and Fig. 6 are sat
It marks the mapping relations for the power fastened and mapping pass can be simplified by regarding the ratio between normal force and tangential force as constant
System, wherein ratio η can be obtained by preliminary experiment, find the fluctuation substantially in 2.5 ± 0.05 of its value, and error, therefore can 2% or so
η=2.5 are taken, the estimation of angle, θ can be obtained by force tracking method.
Fig. 7 show the process of i-th iteration, should first pre-process to workpiece before starting each time, and it is unnecessary to exclude
Interference, while guaranteeing the consistency of each iterated conditional as far as possible；When robot is in polishing state, controller passes through reception
The power on one-dimensional force snesor back proposes that simplified power mapping relations calculate polishing normal force in real time with the present invention, and
Corresponding sliding-mode surface is constructed by calculating practical polishing power with the error of expectation polishing power；By by practical sliding-mode surface and reason
Think that sliding-mode surface compares, obtain sliding formwork surface error, on the one hand which is directly substituted into polishing control law, on the other hand substitute into adaptive
Answer in the calculating process of item, wherein adaptive item be by current time sliding formwork surface error and a preceding iterative process it is adaptive
Item is calculated in real time, and specific calculating process is as shown in Figure 8；Corresponding offset is calculated and to machine by control law
People controls, at the same time the power on one-dimensional force snesor also generate variation not stealpass be defeated by host computer, thus formed one
A complete closed-loop control.
In order to verify the validity of adaptive sliding mode iteration control method, the present invention is respectively to plane angle steel and curve surface work pieces
It polishes.Because angle theta as shown in FIG. 6 is always zero when being polished flat face angle, the power on one-dimensional sensor can be seen
Make polishing normal force, so that the simplified relationship of power proposed by the present invention and angle estimation bring error are eliminated, therefore plane angle steel
Experiment can verify the validity of adaptive sliding mode iterative algorithm.Then design curved surface polishing experiment, further verifying is adaptive
The validity and power of sliding formwork iterative algorithm simplify the feasibility of relationship.
In plane polishing, takes the Q235 angle steel with a thickness of 3mm, having a size of 160mm*40mm and each iteration is according to such as figure
Process shown in 7 carries out, the specific steps of which are as follows:
Step 1: being pre-processed and generated initial buff track to each polishing, guarantee condition when each iteration as far as possible
Consistency.The step of wherein pre-processing and generating initial buff track is as follows:
1) pass through the pretreated polishing track of off-line programing Program Generating and corresponding JOB program；
2) pretreated JOB program is copied in robot demonstrator；
3) pretreated JOB program is run, is not required to plus controls at this time；
4) pass through the initial polishing track of off-line programing Program Generating and corresponding JOB program；
5) initial JOB program is copied in robot demonstrator；
Step 2: opening the debugging of real-time control routine, receive the force signal on force snesor；
Step 3: it allows robot to execute initial JOB program and polishes, meanwhile, controller passes through the power fed back
Signal calculates offset.Specific step is as follows for force feedback signal processing:
1) when robot executes JOB program, the workpiece of robot end with grinding wheel by contacting and generating polishing power；
2) the one-dimensional force snesor of robot end receives the force signal and sends signal amplifier to；
3) force signal of simulation is input to I/O module and carries out A/D conversion by signal amplifier；
4) force signal is transferred to the real-time control system of host computer by I/O module；
5) in the controls, it would be desirable to which power of polishing is set as 20N, and initial parameter is set as kp=0.055, kd=
0.02, and takeSliding-mode surface coefficient lambda=0.5, iteration coefficient γ=0.3；
6) real-time control system calculates corresponding sliding-mode surface by the force signal fed back；
7) when real-time control system calculates current in real time by the adaptive item of sliding formwork surface error and preceding an iteration
The adaptive item carved, specific calculation process are as shown in Figure 8；
8) the adaptive item of sliding formwork surface error and current time is input in control law and calculates down by real-time control system
The offset that one moment robot should be fed；
Step 4: calculated offset being transferred to robot control cabinet, the embedded software in control cabinet, which receives, passes through I/
The analog signal of -10~10V of O module processing simultaneously controls robot movement, wherein offset displacement direction and analog signal symbol
Unanimously, offset displacement is directly proportional to absolute value of voltage.
Step 5: after polishing, removing the workpiece polished, change same plane angle steel, then repeat aforementioned four
Step carries out adaptive iteration control next time.
When plane is polished, the polishing normal force in each iterative process compares and divides its Error Absolute Value
Analysis.When carrying out plane polishing under adaptive sliding-mode observer algorithm, polishing power is finally stable within 20 ± 2N, Error Absolute Value
Average value, standard deviation and variance are in downward trend substantially, and respectively reduced compared with no iteration sliding formwork control 46%,
38% and 62%, realize effective polishing power control.Meanwhile by the surface roughness of workpiece after measurement polishing, it is found
The average value of surface roughness is 0.2329 μm, and standard deviation is only 0.0360 μm, this show the surface roughness profile of workpiece compared with
Uniformity, while also reflecting the validity of the control method from side.
In curved surface polishing, taking workpiece material is 45# steel, and curved surface profile line is the curve surface work pieces of spline curve and changes every time
In generation, carries out according to process as shown in Figure 7, the specific steps of which are as follows:
Step 1: being pre-processed and generated initial buff track to each polishing, guarantee condition when each iteration as far as possible
Consistency.The step of wherein pre-processing and generating initial buff track is as follows:
1) pass through the pretreated polishing track of off-line programing Program Generating and corresponding JOB program；
2) pretreated JOB program is copied in robot demonstrator；
3) pretreated JOB program is run, is not required to plus controls at this time；
4) pass through the initial polishing track of off-line programing Program Generating and corresponding JOB program；
5) initial JOB program is copied in robot demonstrator；
Step 2: opening the debugging of real-time control routine, receive the force signal on force snesor；
Step 3: it allows robot to execute initial JOB program and polishes, meanwhile, controller passes through the power fed back
Signal calculates offset.Specific step is as follows for force feedback signal processing:
1) when robot executes JOB program, the workpiece of robot end with grinding wheel by contacting and generating polishing power；
2) the one-dimensional force snesor of robot end receives the force signal and sends signal amplifier to；
3) force signal of simulation is input to I/O module and carries out A/D conversion by signal amplifier；
4) force signal is transferred to the real-time control system of host computer by I/O module；
5) in the controls, it would be desirable to which power of polishing is set as 20N, and initial parameter is set as kp=0.04, kd=
0.04, and takeSliding-mode surface coefficient lambda=0.5, iteration coefficient γ=0.4；
6) real-time control system calculates corresponding sliding-mode surface by the force signal fed back；
7) when real-time control system calculates current in real time by the adaptive item of sliding formwork surface error and preceding an iteration
The adaptive item carved, specific calculation process are as shown in Figure 8；
8) the adaptive item of sliding formwork surface error and current time is input in control law and calculates down by real-time control system
The offset that one moment robot should move；
Step 4: calculated offset being transferred to robot control cabinet, the embedded software in control cabinet, which receives, passes through I/
The analog signal of -10~10V of O module processing simultaneously controls robot movement, wherein offset displacement direction and analog signal symbol
Unanimously, offset displacement is directly proportional to absolute value of voltage.
Step 5: after polishing, removing the workpiece polished, change same curve surface work pieces, then repeat aforementioned four
Step carries out adaptive iteration control next time.
When curved surface is polished, the polishing normal force in each iterative process compares and divides its Error Absolute Value
Analysis.When carrying out curved surface polishing under adaptive sliding-mode observer algorithm, polishing power is finally also stabilized within 20 ± 2N, and error is absolute
The average value of value, standard deviation and variance are in downward trend substantially, and respectively reduced compared with no iteration sliding formwork control 51%,
45% and 70%, realize effective polishing power control.Meanwhile by the surface roughness of workpiece after measurement polishing, it is found
The average value of surface roughness is 0.2726 μm, and standard deviation is only 0.0512 μm, this show the surface roughness profile of workpiece compared with
Uniformity, while also reflecting the validity of the control method from side.
Robot belt sanding constant force control device based on one-dimensional force snesor includes control device and grinding device；
The control device includes: one-dimensional force snesor, signal amplifier, I/O module, host computer, robot control cabinet,
Six-DOF robot；
The grinding device includes: belt grinder, workpieces processing fixture；
Wherein, workpieces processing fixture, one-dimensional force snesor, clamping sensor fixture be sequentially connected, be located at six degree of freedom
Robot front end, six-DOF robot and I/O module are connected to host computer, and six-DOF robot and robot control cabinet connect
It is connected to I/O module；
It further, further include signal amplifier, the one-dimensional force snesor passes through signal conductor and signal amplifier
The analog signal of connection, the described signal amplifier output is connect with I/O module, and the A/D conversion function in I/O module is by the number
Word amount signal passes in embedded real-time control system, and calculated control amount is passed through I/O mould by the real-time control system
The D/A conversion function of block is transferred to robot control cabinet, to form the feedback control of force signal.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (8)
1. the robot belt sanding constant force control method based on one-dimensional force snesor, which comprises the following steps:
S1, the stress condition according to bruting process carry out the contact force between the polishing workpiece and grinding wheel of robot end
Force analysis obtains the power mapping relations between sensor coordinate system and grinding wheel coordinate system；By polishing normal force and tangentially
The power mapping relations that contact force is fastened with sensor coordinates are established and simplified to the relationship of power；
S2, by the relationship of polish deformation and grinding depth, establish robot grinding wheel based on deformation and polish kinetic model；
S3, design adaptive sliding mode iterative control algorithm, and according to robot grinding wheel polishing kinetic model, it establishes corresponding
Power Controlling model；
S4, according to contact force and power mapping relations and corresponding power Controlling model that sensor coordinates are fastened, design accordingly from
Adapt to sliding formwork iteration constant force controller；
S5, it is calculated by the received power of one-dimensional force snesor using the power mapping relations that contact force and sensor coordinates are fastened
Normal direction polishing power is simultaneously fed back, and the contact force of feedback is input to corresponding adaptive sliding mode iteration constant force controller, thus
The offset of a normal direction is obtained, and the offset of normal direction is transferred to control module and is controlled.
2. the robot belt sanding constant force control method according to claim 1 based on one-dimensional force snesor, feature
It is, the step S1, specifically:
T1, according to polishing when model, establish the position orientation relation between coordinate system: force snesor coordinate system, grinding wheel coordinate system；
Wherein force snesor coordinate origin is the geometric center of sensor, and force snesor coordinate system X-direction is sensor axis side
To force snesor coordinate system Y direction is the radial direction of sensor, and force snesor coordinate system Z-direction is according to coordinate system
Right-hand rule determines；The origin of grinding wheel coordinate system is located on the abrasive band surface of grinding wheel center radially, and grinding wheel is sat
Mark system X-direction is grinding wheel radial direction, and grinding wheel coordinate system Y direction is grinding wheel axial direction, grinding wheel coordinate system Z
Axis direction according to the right-hand rule of coordinate system determine, and polish when two coordinate systems Z axis it is parallel；
T2, the power in bruting process is analyzed, if FtAnd FnPolishing tangential force and normal direction respectively on grinding wheel coordinate system
Power, Ft' and Fn' indicate FtAnd FnThe power being transferred on force snesor coordinate system, FxAnd FyRespectively indicate X on one-dimensional force snesor
The power of axis and Y-axis, then have:
By above formula, polishing normal force and the tangential force on grinding wheel coordinate system are found out:
Wherein, θ is angle between the Y-axis of two coordinate systems；
T3, the relationship for establishing on grinding wheel coordinate system polish normal force and tangential force:
Fn=η Ft,
Wherein, η is polish on grinding wheel coordinate system normal force and tangential force ratio；
T4, according to step T2 and step T3, obtain the power F of one dimension force sensors X axisxWith normal force of polishing on grinding wheel coordinate system
FnBetween relationship:
Fx=Fn(cosθ-sinθ/η)。
3. the robot belt sanding constant force control method according to claim 1 based on one-dimensional force snesor, feature
It is, the step S2, specifically:
U1, grinding force kinetic model is established:
Wherein, fpIt (t) is normal grinding force, m is component of the system inertia matrix in polishing power normal orientation, and c is system damping
Component of the matrix in polishing power normal orientation, k are component of the grinding process rigidity in polishing power normal orientation, and x (t) is knife
Have the position perpendicular to workpiece surface, i.e. grinding depth；The respectively first derivative of x (t) and second dervative；
Robot end's stress condition in U2, analysis bruting process, establishes robot end's stress model:
F (t)=fp(t)+fs(t),
Wherein, fsIt (t) is the deformation force of robot in bruting process；
The relationship of U3, research polishing normal force and grinding depth, establish the relationship of polishing deflection and deformation force:
δx(t)=x*(t)-x (t),
fs(t)=ksδx(t),
Wherein, δxIt (t) is polishing deflection of the cutter perpendicular to workpiece surface, x*It (t) is the grinding depth of planning, ksFor machine
The static rigidity of people's polishing system；
U4, according to the relational expression of step U1, step U2, step U3, obtain the robot belt sanding kinetic simulation based on deformation
Type:
4. the robot belt sanding constant force control method according to claim 3 based on one-dimensional force snesor, feature
It is, the step S3, specifically:
V1, according to polishing power error, design sliding formwork state:
ex(t)=fx(t)-fxd(t),
Wherein, λ is sliding-mode surface coefficient, Sx(t) to polish sliding formwork state when, ex(t)、Respectively polishing and is beaten at power error
Grind the first derivative of power error；fx(t)、The respectively first derivative of moment practical polishing power and moment practical polishing power；
fxd(t)、The respectively first derivative of moment expectation polishing power and moment expectation polishing power；
V2, according to step S2 establish the robot belt sanding kinetic model and step V1 based on deformation sliding formwork state,
Then have:
Wherein, m be system inertia matrix polishing power normal orientation on component, c be system damping matrix polishing force method to
Component on direction, k are component of the grinding process rigidity in polishing power normal orientation, SxiSliding formwork shape when for i-th iteration
State；WithThe respectively first derivative and second dervative of the sliding-mode surface of working depth composition；
And have:
Wherein, SxiFor actual polishing power sliding-mode surface, Sai(t) sliding-mode surface constituted for working depth, SδiIt (t) is machining deformation
The sliding-mode surface of composition, Sf(t) sliding-mode surface constituted for ideal operating force；δxi(t) andIt is polishing deformation in workpiece normal side
Upward component and its first derivative；
V3, according to step V2 and desired sliding formwork state, i.e. Sxi=0, obtain power Controlling model:
。
5. the robot belt sanding constant force control method according to claim 2,4 based on one-dimensional force snesor, special
Sign is, the step S4, specifically:
W1, according to step S1 simplify power mapping relations and step S3 power Controlling model, design corresponding adaptive sliding mode and change
For the control law of constant force controller:
G (Δ x (t))=ksSδi(t),
Wherein,
ei(t)=Sxd(t)-Sxi(t),
Wherein, G () is for normal direction offset and by relationship, e between the sliding-mode surface of robot deformation constructioni(t) andFor sliding formwork
Surface error and its first derivative, SxdIt (t) is ideal polishing power sliding-mode surface,For the adaptive item of (i-1)-th iteration,For the adaptive item of i-th iteration, γ is iteration coefficient, and i is iteration coefficient, kp、kdFor the given coefficient for being greater than zero；
W2, it proposes to support above-mentioned algorithm stability to constringent related it is assumed that being used for the proof of algorithm stability:
Assuming that the unknown parameters of system, and system meets following hypothesis:
Assuming that 1: the original state of system is consistent and repeatable, i.e. Sa1(0)=Sa2(0)=...=Sai(0)；
Assuming that 2: sliding-mode surface SxiAnd Sai, their first derivativeWithSecond dervativeWithAnd SfBounded；
Assuming that 3:|kSai| >=ε, β and ε are the constant greater than zero.
6. the robot belt sanding constant force control method according to claim 1 based on one-dimensional force snesor, feature
It is, the step S5, specifically:
Y1, pass through one-dimensional reception strength sensor signal, the force signal of simulation is transferred at I/O module by signal amplifier
Reason；
Y2, I/O module convert analog signals into digital signal and are transferred to host computer；
Y3, host computer real-time control system, and normal direction offset is calculated according to control law；
Y4, calculated normal direction offset is passed through into I/O resume module and is transferred to robot control cabinet, robot control cabinet root
According to received signal, it is mobile to control robot.
7. the robot belt sanding constant force control device based on one-dimensional force snesor, which is characterized in that comprising control device and
Grinding device；
The control device includes: one-dimensional force snesor, the fixture of clamping sensor, I/O module, host computer, robot control
Cabinet, six-DOF robot；
The grinding device includes: belt grinder, workpieces processing fixture；
Wherein, workpieces processing fixture, one-dimensional force snesor, clamping sensor fixture be sequentially connected, be located at six degree of freedom machine
People front end, six-DOF robot and I/O module are connected to host computer, and six-DOF robot is connected to robot control cabinet
I/O module；
The host computer is handled for receiving I/O module transfer signal, using I/O module transfer to machine after processing
People's control cabinet.
8. the robot belt sanding constant force control device according to claim 7 based on one-dimensional force snesor, feature
It is, further includes signal amplifier, the signal amplifier is connect with one-dimensional sensor and I/O module respectively, for receiving one
Received signal is simultaneously sent to I/O module by dimension sensor signal.
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