研磨抛光位控机器人轨迹规划理论与技术

In order to solve trajectory planning problem of the grinding and polishing full independent program intelligent industrial robots, to expand the scope of positional-controlled robot application, and actively promote the robot grinding and polishing application in practical production. In the face of the complex workpiece, the traditional robotic grinding and polishing trajectory planning method is inefficient, and it affects the production efficiency, the NC grinding and polishing trajectory planning method is not suitable for robot.In the project, the force sensor is added to the position control robot, and the workpiece surface geometric information is acquired, using geometric topology and surface fitting algorithm to reconstruct the unknown surface;By the grinding and polishing surface subdivision evaluation function, establish the mathematical modeling of surface partition problem, the surface subdivision problem into a constrained optimization problem, and optimize the each slice of the robot polishing orthogonal overlapping path;Consider the safety collision speed by impedance control parameter optimization, for grinding and polishing path specific problems, combine heuristic search algorithm and genetic algorithm, optimizes the surface slice path planning, get better trajectory optimization.The research not only has important significance in theory, but also has important value in the development of the grinding and polishing full independent program intelligent industrial robots.

针对开发研磨抛光全自主编程智能工业机器人存在的轨迹规划难题进行探索研究，扩大位控机器人应用范围，积极推动机器人研磨抛光在实际生产中的应用。面对外形复杂的工件，传统机器人研磨抛光轨迹规划方法效率低，影响生产效率，数控研磨抛光轨迹规划方法也不完全适用于机器人。本项目提出对位控机器人加装力传感器，研究工件表面的几何信息获取，采用几何拓扑和曲面拟合重构未知曲面；建立研磨抛光曲面分片评价函数，对曲面分片问题进行数学建模，将曲面分片问题转化成带约束条件的数学优化问题并进行求解，并对每一分片进行机器人末端研磨抛光正交式交叠路径优化；考虑切换过程中阻抗控制参数优化得到的安全碰撞速度，针对研磨抛光路径具体问题将启发式搜索与进化优化算法相结合，进行曲面分片路径规划的组合优化，获得更佳的优化轨迹。本研究不仅在理论上具有重要意义，而且在技术上对于研磨抛光全自主编程智能工业机器人开发有重要价值。

针对开发研磨抛光全自主编程智能工业机器人存在的轨迹规划难题进行探索研究，扩大位控机器人应用范围，积极推动机器人研磨抛光在实际生产中的应用。本项目提出对位控机器人加装力传感器，研究工件表面的几何信息获取，采用几何拓扑和曲面拟合重构未知曲面；建立研磨抛光曲面分片评价函数，对曲面分片问题进行数学建模，将曲面分片问题转化成带约束条件的数学优化问题并进行求解，并对每一分片进行机器人末端研磨抛光路径优化；鉴于机器人阻抗控制器中参数调整的困难，研究机器人阻抗控制器的优化设计问题，建立了该问题的多目标优化模型，提出了基于多目标进化优化的最优阻抗控制器设计方法；在轨迹优化基础上，研究了多种多目标进化算法。同时，发表期刊论文36篇，会议论文1篇；获全国高校自动化专业青年教师实验设备设计创客大赛铜奖1项；“兆易创新杯”第十三届中国研究生电子设计竞赛西北赛区三等奖1项，“挑战杯”甘肃省大学生课外学术科技作品竞赛二等奖2项，培养研究生6名。