Vibration control of a redundant robot for grinding

摘要

Research on robotic grinding has emphasized process parameter control. When an industrial robot is used to remove excess material from castings, grinding weld beads, or welded surfaces, excessive vibrations often occur. Methods based on force control can improve the response. In this paper, we present practical methods for vibration reduction, feed-speed/force control, and an optimal configuration of a 4-DOF redundant robotic manipulator for grinding welded surfaces. An optimal configuration of the robotic manipulator is derived to minimize the arm compliance. The proposed method maximizes the robotic arm stiffness to reduce vibrations. The arm, parameters, and PID control were simulated using ADAMS/view and ADAMS/controls under MATLAB. The grinding force was considered as an input to the dynamical system in addition to the torque/force inputs at each joint. DC servomotors were modeled for actuation of each joint and the PID controller was tuned by the Ziegler-Nichols second rule. Simulation results demonstrate that feed speed/force control reduces vibrations, and provides the capability to use the robotic manipulator for profiling.