抛光工业机器人主动恒力装置设计研究

摘要

研究了工业机器人抛光中的恒力控制,针对传统的机器人恒力控制中既要对机器人进行力控制又要对机器人进行位置控制,导致工业机器人整体控制复杂,响应较慢,精度较低的问题,采用机器人力和位置分离的方式,设计了独立于机器人本体的主动恒力控制装置来解决机器人作业的力控制,使机器人力控制作业中不用考虑机器人的运动控制,从而达到解耦的效果.实验验证结果表明,设计的主动恒力装置提高了工业机器人力控制精度,具有良好的恒力控制性能.%The constant force control of industrial polishing robots was studied.Aiming at the problem that traditional constant force controlling must consider robots' force control as well as position control, thus leading to the control complexity, slow response and low control accuracy of the industrial robots, an independent constant force control device was designed to control robots force by using the way of separating force from position.In this way, the motion control of the robots is not necessary to be considered in the robot control, so the decoupling is achieved.The software of the constant force control device was also designed and the calibration method for relevant parameters was proposed.The effectiveness of the designed device was verified by experiment.The experimental result shows that the design of the active constant force device improves the force control precision of industrial robots, and it brings the device a good performance in constant force control.