Research on the robot’s compliant force control device
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摘要: 机器人自动化抛光过程中, 工具与工件间的接触力控制尤为重要。基于主动柔顺控制的原理, 提出了面向工业机器人的柔顺力控装置及控制方法。进行了系统的结构设计和动力学建模, 基于BP神经网络PID算法, 设计了该柔顺力控装置的自适应控制策略。最后进行力控跟踪实验, 实验结果表明, 柔顺力控装置能够保证打磨过程中工件与工具之间的接触力恒定, 进而提高表面加工质量。Abstract: The control of the contact force between the tool and the workpiece is particularly important in the robot's automated polishing and grinding process. Based on the principle of active compliance control, this paper proposes a compliance force control device and control method for industrial robots. The structural design and dynamic modeling of the system are carried out. Based on the BP neural network PID algorithm, the adaptive control strategy of the compliant force control device is designed. Finally, the force control tracking experiment is carried out. The experimental results show that the compliance force control device can ensure the constant contact force between the workpiece and the tool during the grinding process, thereby improving the surface processing quality.
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表 1 主要参数
参数 数值 A1/m2 7.854 0×10-5 A2/m2 6.597 3×10-5 m/kg 1.618 Km/(N/mm) 87.6 Ωn/(rad/s) 2π(15) ζ 0.07 η 0.5 α 0.04 
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