面向复杂工件的机器人视觉打磨系统:路径规划与力控制研究*

doi:10.16731/j.cnki.1671-3133.2025.07.004

现代制造工程 ›› 2025, Vol. 538 ›› Issue (7): 31-41.doi: 10.16731/j.cnki.1671-3133.2025.07.004

面向复杂工件的机器人视觉打磨系统:路径规划与力控制研究^*

毛坤, 朱学军, 杨旭东, 余坼操

宁夏大学机械工程学院,银川 750021

收稿日期:2024-09-18 出版日期:2025-07-18 发布日期:2025-08-04
通讯作者: 朱学军,教授,主要研究方向为机电系统智能控制。E-mail:zhxj@nxu.edu.cn
作者简介:毛坤,硕士研究生。E-mail:2603753151@qq.com
基金资助:
^*国家自然科学基金项目(51765056)

Robot vision polishing system for complex workpieces: path planning and force control research

MAO Kun, ZHU Xuejun, YANG Xudong, YU Checao

School of Mechanical Engineering,Ningxia University,Yinchuan 750021,China

Received:2024-09-18 Online:2025-07-18 Published:2025-08-04

摘要/Abstract

摘要： 为提高机器人打磨的精度和效率,提出了一种基于三维视觉的机器人打磨路径规划方法。首先,利用结构光相机获取工件表面点云数据,通过RANSAC算法去除背景,并采用点云切片算法划分行间距。随后,使用Douglas-Peuker算法对路径点进行抽稀,并基于直接估计法计算法线,从而生成精确的打磨路径。为了实现稳定的力跟踪,设计了一种自适应变阻抗控制策略。通过MATLAB Simulink仿真平台,对比了PID控制方法、恒阻抗控制方法和自适应变阻抗控制方法在平面、弧面和复杂曲面环境下的性能。仿真结果表明,所提出的自适应变阻抗控制方法在力跟踪精度和响应速度方面均优于传统方法。在模拟打磨实验中,搭建了基于FANUC M-10ia/12型机器人和CX5020-0111控制器的打磨系统。实验验证了该方法在不同形状工件表面的有效性,尤其在复杂曲面环境中表现突出。

关键词: 路径规划, RANSAC算法, 力跟踪, 自适应变阻抗控制, 复杂曲面

Abstract: A 3D vision based robot polishing path planning method was proposed aimed at improving the accuracy and efficiency of robot polishing. Firstly,the structured light camera was used to obtain point cloud data on the surface of the workpiece. The RANSAC algorithm was used to remove the background,and the point cloud slicing algorithm was used to divide the row spacing. Subsequently,the Douglas-Peuker algorithm was used to dilute the path points,and the normal was calculated based on direct estimation method to generate accurate polishing path. In order to achieve stable force tracking,an adaptive variable impedance control strategy was designed. The performance of PID control method,constant impedance control method and adaptive variable impedance control method in planar,curved and complex surface environments was compared using the MATLAB Simulink simulation platform. The simulation results showed that the proposed adaptive variable impedance control method was superior to traditional methods in terms of force tracking accuracy and response speed. In the simulated polishing experiment,a polishing system based on FANUC M-10ia/12 robot and CX5020-0111 controller was built. The experiment verified the effectiveness of this method on surfaces of workpieces with different shapes,especially in complex curved environments.

Key words: path planning, RANSAC algorithm, force tracking, adaptive variable control, complex surface

中图分类号:

TP242.2

毛坤, 朱学军, 杨旭东, 余坼操. 面向复杂工件的机器人视觉打磨系统:路径规划与力控制研究^*[J]. 现代制造工程, 2025, 538(7): 31-41.

MAO Kun, ZHU Xuejun, YANG Xudong, YU Checao. Robot vision polishing system for complex workpieces: path planning and force control research[J]. Modern Manufacturing Engineering, 2025, 538(7): 31-41.

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面向复杂工件的机器人视觉打磨系统:路径规划与力控制研究^*

Robot vision polishing system for complex workpieces: path planning and force control research

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