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Alternative TitleA Study of Grinding and Polishing Robot Force Control for Plexiglass
杨林; 赵吉宾; 李论; 刘雷
Source Publication机械设计与制造
Issue4Pages:105-107, 111
Contribution Rank1
Keyword柔顺控制 重力补偿 机器人 力控制
Other AbstractTaking plexiglasses the grinding and polishing object, a robot grinding and polishing systemsis established, which is composed of robot offline path planning and online force control. An active and passive compliance control grinding and polishing model is set up by analyzing the grinding and polishing tool force in process of machining according to flexible mechanism and active compliance control. The gravity compensation algorithm based tool load is proposed by tool gravity calculation, which is for eliminating gravitational disturbance in the grinding and polishing process. A novel explicit force control strategy based on impedance inner loop control is proposed,and the tracking with no static errors about the grinding and polishing force is implemented. The experimental results show that the robot achieves a relatively constant force control effect by modifying the robot trajectory through calculating the difference between reference force and actual force.
Document Type期刊论文
Recommended Citation
GB/T 7714
杨林,赵吉宾,李论,等. 有机玻璃研磨抛光机器人力控制研究[J]. 机械设计与制造,2015(4):105-107, 111.
APA 杨林,赵吉宾,李论,&刘雷.(2015).有机玻璃研磨抛光机器人力控制研究.机械设计与制造(4),105-107, 111.
MLA 杨林,et al."有机玻璃研磨抛光机器人力控制研究".机械设计与制造 .4(2015):105-107, 111.
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