基于自适应力控感知的智能机器人在底吹炉清渣作业方法研究OA

Due to the problems of high labor intensity,harsh working environment,and low efficiency in traditional manual operation of bottom blowing furnace slag cleaning,a smelting robot bottom blowing furnace slag cleaning operation method based on adaptive force control perception is studied.Using a six dimensional force sensor to sense the contact force and torque of the smelting robot in the bottom blowing furnace slag cleaning operation,a PID controller is designed to dynamically adjust the operating parameters of the smelting robot based on the error between the perceived contact force and torque and the expected force and torque,achieving adaptive control of the bottom blowing furnace slag cleaning operation of the smelting robot.The experimental results show that the design method exhibits significant advantages in trajectory tracking control of bottom blowing furnace slag cleaning operation of smelting robots and control of robot end output force,verifying the superiority of this method.