STUDY ON THE CONTROL STRATEGY OF THE GLASS PIPE THREAD GRINDING ROBOT

Abstract

Abstract: For the requirements of force and position control of the robot in the process of the thread grinding operations, the dynamic constraint model of the robot is established. Through on the modeling and analysis of grinding force, the impedance control method based on the adaptive algorithm is adopted. The method is based on the analysis of the interaction between the robot and the working object. Then, we can correct the reference value of the force in real time and the amount of actual force at the end of the robot arm can be ensured to stabilize the desired grinding force. This method has a good robustness for the disturbances and errors arising from the external environment and other unknown factors, and the amount of computation is small. Based on the above method, the dynamic controller of the manipulator system is established. The simulation results show that the method has good stability, and can meet the requirements of real-time control of the robot.

Key words: robot, impedance control, thread

CLC Number:

TB332

YOU Bo, MIAO Zhuang, XU Jia-zhong, QIAO Ming. STUDY ON THE CONTROL STRATEGY OF THE GLASS PIPE THREAD GRINDING ROBOT[J]. Fiber Reinforced Plastics/Composites, 2016, 0(5): 36-40.

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