SIA OpenIR  > 智能产线与系统研究室
Alternative TitleResearch on Platform of Robot Automatic Polishing System and Gravity Compensation
高强; 田凤杰; 杨林; 李静
Source Publication工具技术
Contribution Rank2
Funding Organization沈阳市科技创新专项资金资助项目(F13-020-2-00)
Keyword光整加工 研抛系统平台 机器人 力外环控制 重力补偿
Other AbstractIn order to conduct automatic and flexible finishing machining on freeform surface,the robot automatic polishing system platform is built up. One of the key technology of the system is how to realize the on-line polishing force control of the ATI six axis force / torque sensor and PC machine. Through the force analysis of the sensor measurement, the gravity compensation algorithm of the polishing tool and the connecting parts is proposed,which is used to eliminate the interference caused by gravity during machining. A compliance control strategy for force outer loop based on position loop is used. Taken curved surface of 45 steel workpiece as a processing object, the experiments are carried out. The experimental results show that polishing force remained relatively constant within a certain range,The quality of surface after polishing is stable ,which proves the feasibility of the robot's automatic polishing system platform,and the automatic polishing operation of the robot is realized well.
Document Type期刊论文
Recommended Citation
GB/T 7714
高强,田凤杰,杨林,等. 机器人自动研抛系统平台搭建及重力补偿研究[J]. 工具技术,2015,49(8):47-50.
APA 高强,田凤杰,杨林,&李静.(2015).机器人自动研抛系统平台搭建及重力补偿研究.工具技术,49(8),47-50.
MLA 高强,et al."机器人自动研抛系统平台搭建及重力补偿研究".工具技术 49.8(2015):47-50.
Files in This Item: Download All
File Name/Size DocType Version Access License
机器人自动研抛系统平台搭建及重力补偿研究(616KB)期刊论文出版稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[高强]'s Articles
[田凤杰]'s Articles
[杨林]'s Articles
Baidu academic
Similar articles in Baidu academic
[高强]'s Articles
[田凤杰]'s Articles
[杨林]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[高强]'s Articles
[田凤杰]'s Articles
[杨林]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 机器人自动研抛系统平台搭建及重力补偿研究.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.