现代制造工程Issue(7)：31-41,11.DOI:10.16731/j.cnki.1671-3133.2025.07.004
面向复杂工件的机器人视觉打磨系统:路径规划与力控制研究
Robot vision polishing system for complex workpieces:path planning and force control research
摘要
Abstract
A 3D vision based robot polishing path planning method was proposed aimed at improving the accuracy and efficiency of robot polishing.Firstly,the structured light camera was used to obtain point cloud data on the surface of the workpiece.The RANSAC algorithm was used to remove the background,and the point cloud slicing algorithm was used to divide the row spacing.Subsequently,the Douglas-Peuker algorithm was used to dilute the path points,and the normal was calculated based on direct estimation method to generate accurate polishing path.In order to achieve stable force tracking,an adaptive variable imped-ance control strategy was designed.The performance of PID control method,constant impedance control method and adaptive vari-able impedance control method in planar,curved and complex surface environments was compared using the MATLAB Simulink simulation platform.The simulation results showed that the proposed adaptive variable impedance control method was superior to traditional methods in terms of force tracking accuracy and response speed.In the simulated polishing experiment,a polishing sys-tem based on FANUC M-10ia/12 robot and CX5020-0111 controller was built.The experiment verified the effectiveness of this method on surfaces of workpieces with different shapes,especially in complex curved environments.关键词
路径规划/RANSAC算法/力跟踪/自适应变阻抗控制/复杂曲面Key words
path planning/RANSAC algorithm/force tracking/adaptive variable control/complex surface分类
信息技术与安全科学引用本文复制引用
毛坤,朱学军,杨旭东,余坼操..面向复杂工件的机器人视觉打磨系统:路径规划与力控制研究[J].现代制造工程,2025,(7):31-41,11.基金项目
国家自然科学基金项目(51765056) （51765056）
