Nonlinear Adaptive Correction of Continuous Path Speed of the Tool for High Efficiency Robotic Machining

摘要

The proposed new structure of the control system for a robot that performs high-performance machining, for example milling, deburring, grinding and polishing parts. This structure is based on the ideas of mechatronics and contains nonlinear adjustment-regulating feedback. The algorithm of generation of control actions, providing adaptive correction of continuous path speed of tool movement and the absence of overdriving the servo drives. The corrected value of the path velocity is calculated based on the change variables, taking into account the currents in the windings of all of the motors of the robot and of the tool. Computer simulation results have confirmed the conclusion that when using the proposed algorithms logical signal processing, filters and relay control law ensuring consistent operation of the drives, the required accuracy of the movements of tool and high performance.