Motion path anticollision adjustment method for grinding of robot belt

A technology of robot abrasive belt and robot motion, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as collisions in the process of robot grinding

Active Publication Date: 2017-12-01
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
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Problems solved by technology

Among them, the robot movement path generation method solves the problem of converting the workpiece grinding path into the robot movement path, and t

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  • Motion path anticollision adjustment method for grinding of robot belt
  • Motion path anticollision adjustment method for grinding of robot belt
  • Motion path anticollision adjustment method for grinding of robot belt

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Embodiment Construction

[0069] The present invention will be further described in detail below with reference to the drawings and examples, but the embodiments of the present invention are not limited thereto.

[0070] Such as figure 1 As shown, a motion path collision avoidance adjustment method for robot abrasive belt grinding, including steps:

[0071] 1) The step of generating the motion path of the robot, that is, converting the grinding path of the workpiece into the motion path of the robot;

[0072] 2) The step of adjusting the collision avoidance of the robot's motion path, that is, by changing the pose of each knife contact point on the motion path of the robot during grinding, so that the robot can avoid collisions during the machining process.

[0073] Specifically, the step of converting the grinding path of the workpiece into the motion path of the robot in step 1) is specifically to map each tool contact point on the grinding path to the pose of the corresponding path point on the mot...

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Abstract

The invention discloses a motion path anticollision adjustment method for grinding of a robot belt. The motion path anticollision adjustment method comprises the steps of (1) generating a robot motion path: converting a workpiece grinding path into the robot motion path; (2) adjusting the anticollision of the robot motion path: changing the position and posture of each cutter contact point on the motion path when grinding is performed by a robot, so that the robot is prevented from colliding during machining. The motion path anticollision adjustment method has the characteristics of flexibility and practicability, a three-dimensional problem is simplified into a two-dimensional problem for searching an optimized curve in a reliable area in a collision layer, the robot can be effectively prevented from colliding when a workpiece is ground by the belt, and additionally, the grinding accuracy and efficiency can be guaranteed.

Description

technical field [0001] The invention relates to a motion path collision avoidance adjustment method for robot abrasive belt grinding, including a robot motion path generation method and a robot motion path collision avoidance adjustment method, and a robot as an execution device and a belt machine to form a robot sander With grinding system. Background technique [0002] Robot abrasive belt grinding can overcome the shortcomings of poor precision and low efficiency of manual abrasive belt grinding, so it has been widely used in industrial production. As the shape of the workpiece becomes more and more complex, collisions between the workpiece and the tool, and between the robot and the tool are prone to occur during the grinding process of the robot belt. Therefore, it is necessary to study the collision avoidance adjustment method for the movement path of the robot belt grinding. Contents of the invention [0003] The invention provides a motion path collision avoidance ...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/16
CPCB25J9/1666B25J11/0065
Inventor 张铁苏杰汶
Owner SOUTH CHINA UNIV OF TECH
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