摘要
针对机器人加工复杂曲面零件,提出一种面向加工轮廓误差的控制策略。通过向量的形式定义了机器人加工任务的轮廓误差,结合双向搜索、斐波那契搜索和球面线性插补算法,对机器人轮廓误差进行了估计;在此基础上通过将加权轮廓误差分量补偿到机器人任务空间的速度指令中,设计了机器人加工任务的轮廓控制策略。实验结果表明:对于位置和姿态轮廓误差,估计值与真实值的差异非常小,且与单纯的跟踪控制相比,位置和方向轮廓平均误差大约降低了30%,验证了所提加工轮廓误差控制策略的有效性。
A control strategy for machining contour error was proposed for robotic machining complex surface parts.The contour error of the robot processing task was defined in the form of vector,and the robot contour error was estimated by combining bidirectional search,Fibonacci search and spherical linear interpolation algorithms.On this basis,the contour control strategy of the robot processing task was designed by compensating the weighted contour error component to the speed command in the robot task space.The experimental results show that the difference between the estimated value and the true value is very small for the position and attitude contour errors,and the average error of the position and direction contour is reduced about 30% compared with the simple tracking control,which verifies the effectiveness of the proposed processing contour error control strategy.
作者
刘帅
邓强国
LIU Shuai;DENG Qiangguo(Intelligent Manufacturing College of Sichuan Vocational and Technical College,Suining Sichuan 629000,China;Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming Yunnan 650500,China)
出处
《机床与液压》
北大核心
2024年第11期40-46,共7页
Machine Tool & Hydraulics
基金
四川省教育厅课题(18ZB0532)。
关键词
机器人加工
轮廓误差
位姿控制
控制策略
robotic processing
profile error
position and attitude control
control strategy
作者简介
刘帅(1984-),男,硕士,副教授,主要研究方向为高速加工控制技术。E-mail:yingfuding@126.com。
