摘要
介绍了一种力控制的机器人打磨系统。分析了机器人的打磨行业应用的优势和挑战,以ABB力控制为例给出了机器人力控制技术的解决方案,对机器人打磨过程进行了建模,并详细的讨论了该方案的主要关键技术:手把手示教,路径学习和基于模版的自动程序生成。对基于力控制技术的机器人打磨模型进行了实现,开发了一种快速的编程方法的产品。实验和反馈表明该产品可有效的缩短编程时间和提高编程效率。
A force-control-based robotic machining system is introduced in this paper.Firstly,the advantage and challenge is analyzed in using robot in machining.ABB force control solution is given. The machining process model is analyzed.Three key technologies:lead-through teaching,path learning and template-based automatic program generation are described.A system based on force-controlbased robot machining is realized and a product based on fast programming method is developed.It is proved practically that it can shorten the programming time from days to minutes in robotic machining programming.
出处
《上海电气技术》
2008年第2期35-40,48,共7页
Journal of Shanghai Electric Technology
关键词
力控制
力(力矩)传感器
机器人打磨
手把手示教
路径学习
自动程序生成
force control
force(torque) sensor
robot machining
lead-through teaching
path learning
automatic program generation
