形位不确定回转腔体内壁表面的打磨

Abstract

A force control method based on reverse engineering and an impedance model was proposed for the robotic grinding in a kind of rotary shell′s inner surface with dynamic uncertainties.Using quasi-online laser measuring approach,the coarse and precise measuring processes were implemented for inner surface with longitudinal curve data and the 3D model of the rotary shell′s inner-surface was reconstructed.Combining an impedance controller with an intelligent control method,the algorithm of the reference trajectory of fuzzy adjusting was adopted.In virtue of the environmental geometry using laser measuring,the reference trajectory was accounted.According to the environmental change in stiffness,a fuzzy logic controller was used for adjusting the scale factor in sampling time.A robotic open architecture platform with force control was set up for laser measuring and grinding process.The force tracking experiments for inner-surface with dynamics uncertainties were performed.The experimental results show that the mean absolute difference rate of the model is less than 0.024% with laser measuring.The inner wall surface of a solid rocket engine was chosen for grinding experiment,and experimental results indicate that the mean absolute difference rate of force tracking is less than 5% and the difference rate of grinding depth is within 6.5% with setting depth of grinding of 0.200 m.These results prove the validity of the proposed method.