复杂曲面机器人自适应磨削规划与稳态位姿跟踪

doi:10.3901/JME.260592

机械工程学报 ›› 2026, Vol. 62 ›› Issue (11): 227-240.doi: 10.3901/JME.260592

• 机器人及机构学 • 上一篇

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复杂曲面机器人自适应磨削规划与稳态位姿跟踪

祁若龙^1,2, 任康¹, 朱光², 赵吉宾²

1. 沈阳建筑大学机械工程学院沈阳 110168;
2. 中国科学院沈阳自动化研究所机器人学国家重点实验室沈阳 110168

收稿日期:2024-12-26 修回日期:2025-04-22 发布日期:2026-07-29
作者简介:祁若龙,男,1983年出生,博士,教授。主要研究方向为机器人加工与振动控制。E-mail:qiuolong@126.com;朱光(通信作者),男,1989年出生,博士,副研究员。主要研究方向为磨削加工工艺方法。E-mail:Zhuguang@sia.cn
基金资助:
国家自然科学基金(52405570)和辽宁省自然科学基金(2023MS223)资助项目。

Robot Adaptive Grinding Planning and Steady State Tracking for Complex Surface

QI Ruolong^1,2, REN Kang¹, ZHU Guang², ZHAO Jibin²

1. School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168;
2. The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110169

Received:2024-12-26 Revised:2025-04-22 Published:2026-07-29

摘要/Abstract

摘要： 为解决工业机器人对未知曲面磨削轨迹规划困难且力-位跟踪精度不高的问题，结合具有轨迹泛化能力的动态运动基元(DMP)算法和自适应阻抗控制算法，提出了一种基于DMP泛化映射的机器人复杂曲面磨抛轨迹规划与力控制方法。首先，建立位置和四元数姿态的无奇异DMP动力学模型，为将整个DMP系统扩展到六维，利用同一个时钟系统驱动以确保运动同步；然后，将动态运动基元在DMP转换系统中加入自适应阻抗控制导出的力耦合项，实现力控制能力的同时将轨迹泛化至未知曲面，并推导姿态修正算法对与曲面接触时工具姿态进行跟踪修正；最后，通过仿真验证算法理论性能，并开展物理样机实验验证工程适用性，仿真结果验证了算法对于泛化位置的跟踪精度以及轨迹位置发生变化时的适应能力；实验结果表明本方法不仅能精确地泛化复杂曲面的磨削轨迹，而且在未知曲面上规划的轨迹也表现出了良好的磨削效果，具有良好的实用性和稳定性。

关键词: 动态运动基元, 未知曲面, 磨削轨迹规划, 自适应阻抗控制

Abstract: To solve the problem of difficult grinding trajectory planning and low force-position tracking accuracy for industrial robots on unknown curved surfaces, a grinding trajectory planning and force control method based on the generalized mapping of dynamic movement primitives (DMP) with trajectory generalization ability and adaptive impedance control algorithm is proposed. First, a singularity-free dynamic model of position and quaternion attitude for DMP is established, and the entire DMP system is extended to six dimensions by using the same clock system to drive motion synchronization. Then, the dynamic motion primitive is added to the DMP conversion system with the force coupling term derived from the adaptive impedance control, achieving force control capability while generalizing the trajectory to unknown curved surfaces, and the attitude correction algorithm is derived to track and correct the tool attitude when in contact with the surface. Finally, the proposed method is validated through simulations and physical experiments. The simulation results verify the tracking accuracy of the algorithm for generalized positions and its adaptability to trajectory variations. The experimental results demonstrate that the method not only accurately generalizes grinding trajectories on complex surfaces but also achieves satisfactory grinding performance on unknown surfaces, exhibiting strong practicality and stability.

Key words: dynamic movement primitives, unknown curved surfaces, grinding trajectory planning, adaptive impedance control

中图分类号:

TG156

祁若龙, 任康, 朱光, 赵吉宾. 复杂曲面机器人自适应磨削规划与稳态位姿跟踪[J]. 机械工程学报, 2026, 62(11): 227-240.

QI Ruolong, REN Kang, ZHU Guang, ZHAO Jibin. Robot Adaptive Grinding Planning and Steady State Tracking for Complex Surface[J]. Journal of Mechanical Engineering, 2026, 62(11): 227-240.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I11/227

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复杂曲面机器人自适应磨削规划与稳态位姿跟踪

Robot Adaptive Grinding Planning and Steady State Tracking for Complex Surface

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