Research on control method of tapping depth of five-degree-of-freedom hybrid robot

In the rubber tapping industry, the control of tapping depth affects not only the latex output of a single tapping but also the economic life of the rubber. It is the key technology to realize automatic tapping. A cooperative control method of end sensor one coordinate axis direction closed-loop control and trajectory planning is proposed in this paper. Firstly, the trajectory planning of the robot is taken to realize the spiral pose interpolation in the Cartesian space. Then, according to the attitude in the trajectory planning, the measured distances to the paper tube surface are decomposed into the axes of the Cartesian coordinate system to realize the spatial closed-loop control. The joint motion position control is completed through the real-time feedback of the photoelectric sensors on each joint simultaneously. Finally, the control method is tested. The test results show that the robot end tool axis is kept moving in the planned posture by this closed-loop control method. The theoretical distance from the laser sensor to the paper tube surface is 45mm. When the movement speed is 10mm/s, the actual average distance from the sensor to the paper tube surface is 44.99 mm, and the maximum deviation is 0.74mm, which meets the accuracy requirements of the actual tapping depth. It has been proved that the method can effectively control the depth precision of rubber tapping and provides important technical support for the realization of automatic rubber tapping.