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提出了一种面向机器人参与机械加工的智能柔顺控制策略,通过一个模糊阻抗控制器和一个速度控制器,该策略被应用于机器人切除毛刺操作中。模糊阻抗控制器可以根据机器人末端实际位置和期望位置的误差调整阻抗参数,从而提高控制性能和加工效果。而模糊速度控制器被用来调节工具进给速度,从而彻底清除较大的毛刺,避免损害工件和刀具,得到理想的加工表面。为了验证控制策略的柔顺控制能力,以一个三关节机器人进行了计算机仿真,仿真结果表明提出的策略能够很好提高控制性能,获得理想的加工效果。
A smart compliant control strategy for robotic participation in machining is proposed. The strategy is applied to robotic deburring operation with a fuzzy impedance controller and a speed controller. The fuzzy impedance controller can adjust the impedance parameters according to the error between the actual position and the desired position at the end of the robot to improve the control performance and the processing effect. The fuzzy speed controller is used to adjust the tool feed speed, so as to completely remove the larger burr, to avoid damage to the workpiece and the tool, to get the ideal surface. In order to verify the compliance control ability of the control strategy, a three-joint robot was used to carry out computer simulation. The simulation results show that the proposed strategy can improve the control performance and obtain the ideal machining result.