Trajectory Planning Method for Grinding Workpieces Supported by Robots Based on Offline Programming

Abstract

The invention discloses an offline programming based planning method for a polishing track of a workpiece clamped by a robot. A robot model is guided into three-dimensional modeling software, and constraints are set for a clamp and the workpiece and a robot tool parameter is set; a user coordinate system pose parameter of the robot is set; the optimal pose of each position on the polishing track is calculated, a polishing curve is discretized into interpolate points of an appointed number, and at the same time the normal vector and the tangent vector of each interpolate point are calculated; and a polishing track point planning algorithm is a planning algorithm of the track for the robot to clamp the workpiece for machining, and the pose of a robot tool coordinate system is obtained, converted into an order format stipulated by a controller, and then guided out to an execution mechanism for execution. By means of the method, the robot can be used only by finely adjusting the position manually, and the teaching difficulty is reduced. In the method, the algorithm of the robot to clamp the workpiece for machining is provided, and the problem of robot offline track planning under the condition that a robot terminal pose point and an actual movement terminal are not consistent is solved.

Description

Technical field [0001] The invention relates to a trajectory planning method for robot buffing workpiece grinding based on offline programming. Background technique [0002] With the continuous advancement of industrial robot technology and the wide application of industrial robots in welding, cutting, engraving, grinding, deburring and other industries, the processing efficiency and accuracy of robots have also been continuously improved. Among the above-mentioned processing techniques, the application of grinding is the most flexible and complex. The grinding process of small workpieces has the following characteristics: the shape of the workpiece is complex, mostly irregular spline surfaces and spline curves, which are difficult to describe by mathematical analysis; the volume of the workpiece is relatively small, such as the surface grinding of the faucet and the grinding of the blade edge. The robot blessed the workpiece to polish on the polishing belt. These two character...

AI Technical Summary

Problems solved by technology

[0005] The invention aims to solve the technical problems faced by the application of robots in the field of grinding workpieces, and provides a trajectory planning method for grinding workpieces based on off-line programming. The robot program is generated offline. The robot program only contains the position information of the robot's movement end Contains joint information related to the robot body, etc., so within the scope of the robot's motion space, the program has good portability and reusability

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