文章基本信息

标题：Rapid Modelling and Grinding of Workpieces’ Inner-surface by Robot with Impedance Model Based Fuzzy Force Control Algorithm
本地全文：下载
作者：Fei Wang ; Fei Wang ; Zhong Luo 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2017
卷号：95
页码：1-5
DOI：10.1051/matecconf/20179505003
语种：English
出版社：EDP Sciences
摘要：To achieve rapid automatic grinding of workpieces’ inner-surface by industrial robot, a rapid translational detection strategy of workpieces’ inner-surface and fuzzy force control algorithm of grinding are proposed in this paper. The rapid translational detection strategy introduces a way to establish an inner-surface’s model quickly by recording key points of the axial section contour which reflects big curvature changes of the contour. The established model is feasible but imprecision. The force control algorithm is based on impedance model. To promote adaptability to the imprecision of the established inner-surface’s model, a fuzzy adjusting strategy is introduced in the force control algorithm. By adopting an adjusting factor, which determined by force response and a fuzzy logic, the strategy can adjust the reference trajectory of impedance model in time. Taking advantage of proposed detection and force control method, grinding experiments shows that the contact normal force maintains approximately constant, the relative mean error is within 6.5%, and the material removal thickness of the inner-surface is approximately consistent. The proposed strategy’s feasibility is verified.