Research on Interpolation Control of 6-DOF Water Cutting Robot

Abstract:

In order to get the exact water cutting of the complexity shape, the 6-DOF robot kinematics model is put forward. The gesture of every point can be calculated in real-time through NC interpolation algorithm of the expected discrete points on the track. On the basis of the matrix of position and gesture, a precise control method of 6-DOF water cutting robot trajectory and attitude of the end is proposed which comes from the improved NC-based code and could get any angle cutting surface, which is easy to program off-line. Finally, the simulation verity of NC interpolation control is made by VC and MATLAB tools.

• Periodical: Key Engineering Materials (Volume 455)
• Pages: 257-263
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.455.257
• Online since: December 2010
• Authors: Ming Hong Xie, W. Wang
• Keywords: NC Interpolation, Trajectory Control, Water Cutting Robot

References

[1] G.M. Chen: Application of High Pressure Water Jet Cutting Technology in Food Processing, Machine Tool & Hydraulics, (2008)No10, pp.220-223. (In Chinese).

[2] H.Y. Wang: Optimization Design of Eddy Current Sensor in Water Cutting Robot, Transducer and Microsystem Technologies, (2007)No3, pp.56-61. (In Chinese).

[3] John J. Craig: Introduction to Robotics: Mechanics and Control (3rd Edition)(New Jersey Prentice Hall Inc, 2004).

[4] W.G. Song, Robotics: kinematic, dynamics and control (Science and Technology Press, 2007) (In Chinese).

[5] X.G. Ding: Robot Control (Zhejiang University Press, 2006) (In Chinese).

[6] M. Tan, D. Xu: Advanced Robot Control (Higher Education Press, 2007) (In Chinese).

[7] K. Zhou: CNC principles Systems and Applications of PC (Machinery Industry Press, 2006) (In Chinese).

[8] Y.H. Ding: Visual C++ (Tsinghua University Press, 2005) (In Chinese).

[9] W.G. Liu: Scientific Computing and MATLAB(China Railway Publishing House, 2000) (In Chinese.