高技术通讯2017，Vol.27Issue(5)：434-441,8.DOI:10.3772/j.issn.1002-0470.2017.05.007
抛光工业机器人主动恒力装置设计研究
Design and research of active constant force device for industrial polishing robots
摘要
Abstract
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.关键词
抛光/打磨/工业机器人/力控制/恒力装置位置控制Key words
polishing/grinding/industrial robots/force control/constant force device position control引用本文复制引用
禹鑫燚,邢双,欧林林..抛光工业机器人主动恒力装置设计研究[J].高技术通讯,2017,27(5):434-441,8.基金项目
863计划(2014AA041601),浙江省公益项目(2016C31064),宁波市重点工业项目(2014B10017),国家自然科学基金(61273116)和浙江省自然科学基金(LYl5F030015)资助项目. （2014AA041601）
