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Alternative TitlePolishing method of portal lifting robot based on force control
杨林; 赵吉宾; 李论; 于彦凤; 刘殿海
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to a polishing method of a portal lifting robot based on force control. The polishing method comprises the following steps: an industrial personal computer generates an offline path according to a workpiece model, and the robot processes a workpiece according to the offline path; a force sensor acquires force information at the tail end of the robot in real time to return to the industrial personal computer, and the industrial personal computer obtains returned force through gravity compensation according to the force information; the industrial personal computer obtains a difference between a set force target value and the returned force, and obtains a position corrected quantity through a force controller; and the sum of the position corrected quantity and a present position of the robot is obtained, and an impedance controller obtains a control quantity to control polishing acting force in robot processing. The polishing method eliminates the disturbance of tool gravity on the polishing acting force in the polishing process to guarantee the detecting and control precision of the polishing acting force, and is high in sensor measuring precision, high in robot control precision and excellent in processing effect.
PCT Attributes
Application Date2015-12-14
Application NumberCN201510919085.8
Open (Notice) NumberCN105500147A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
杨林,赵吉宾,李论,等. 基于力控制的龙门吊装机器人打磨加工方法[P]. 2016-04-20.
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