Adaptive control method for metallurgical robots with contact operation
The use of metallurgical robots to replace manual labor to engage in some dangerous and repetitive labor has gradually become one of the important elements of the construction of unmanned production lines in major factories.In some application scenarios,the robot's end-effector needs to be in close contact with the workpiece.When an abnormal situation occurs,the robot may trigger a colli-sion alarm,and require the operator to manually recover the robot,greatly affecting the production ef-ficiency and posing a large safety risk.For those applications that require contact work,based on the Rapid language of ABB series of robots,a collision adaptive control program and anti-collision moni-toring along with distance compensation program were developed.Then without manual intervention,the robot can automatically carry out the next action,to ensure the normal operation of the production process.Both solutions have been put into use in the steel plant,the effect is good,and improve the level of intelligence in the steel plant.
NETL
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