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Precise grinding track generation method based on B spline

A kind of trajectory generation and precision technology, applied in the direction of instrument, comprehensive factory control, computer control, etc., can solve the problems of low fitting accuracy, heavy workload, can not meet the precision work, etc., to ensure smooth motion, high fitting accuracy and other problems. Effect

Inactive Publication Date: 2017-12-05
ROKAE SHANDONG INTELLIGENT TECH CO LTD
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AI Technical Summary

Problems solved by technology

When grinding these industrial products, using straight lines and arcs to approximate their shapes not only requires a lot of work but also has low fitting accuracy, which cannot meet the needs of precision operations
In addition, when a straight line and a circular arc are connected and transitioned, there must be a sudden change in the second derivative of the working trajectory, that is, a sudden change in the motion acceleration, which cannot guarantee the smooth movement of the robot, which in turn affects the service life of the robot

Method used

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  • Precise grinding track generation method based on B spline
  • Precise grinding track generation method based on B spline
  • Precise grinding track generation method based on B spline

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Embodiment Construction

[0050] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0051] The B-spline-based precision grinding trajectory generation method in the embodiment of the present invention obtains the key path points of the grinding work on the basis of the workpiece CAD model, performs B-spline interpolation on the path points, and judges whether the curve obtained by B-spline interpolation satisfies the following requirements: Accuracy requirements, when the accuracy requirements are not met, obtain more path points until the interpolation results meet the accuracy requirements, then plan the speed,...

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Abstract

The invention provides a precise grinding track generation method based on a B spline. The method comprises steps that a workpiece CAD model is established; based on the workpiece CAD model, a grinding area is analyzed, and key grinding work path points are acquired; B spline interpolation for the acquired grinding work path points is carried out; whether the interpolation result satisfies precision requirements is determined; speed programming is carried out for the interpolation result, when the interpolation result is consistent with the precision requirements, actual work demands and self restrictions of robots are considered, and speed programming is carried out; the spline track is outputted. Compared with work tracks through linear and arc-shaped fitting, the method is advantaged in that higher fitting precision is realized.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a B-spline-based precision grinding trajectory generation method. Background technique [0002] Grinding trajectory is the basis for industrial robots to achieve grinding operations, which directly affects the surface quality of the workpiece to be ground. Traditional robot systems provide three forms of trajectory interpolation methods: joint interpolation, linear interpolation and circular interpolation. Joint interpolation usually has no path constraints, and does not care about the motion trajectory between two working points, but takes the shortest time as the optimization goal, and uses joint space coordinates to represent motion; linear interpolation and circular interpolation are Cartesian interpolation. Linear interpolation enables the robot to move in a straight line in space between two working points, and circular interpolation makes the robot move in a spa...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/4097
CPCG05B19/4097G05B2219/32153Y02P90/02
Inventor 李俊梁李振国李兆坤陈超刘文礼
Owner ROKAE SHANDONG INTELLIGENT TECH CO LTD
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