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Force control-based robot polishing trajectory estimation method

A technology of robots and robot arms, applied in the direction of program control, computer control, general control system, etc.

Inactive Publication Date: 2018-06-01
WUHU HIT ROBOT TECH RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a method for estimating the grinding trajectory of a robot based on force control, which can quickly obtain the rough grinding trajectory of complex workpieces and meet the needs of robots for rough grinding of workpieces

Method used

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  • Force control-based robot polishing trajectory estimation method
  • Force control-based robot polishing trajectory estimation method
  • Force control-based robot polishing trajectory estimation method

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Embodiment Construction

[0017] The specific implementation manner of the present invention will be described in further detail below by describing the best embodiment with reference to the accompanying drawings.

[0018] Such as figure 1 , the force sensor is used to collect the pressure between the grinding tool held by the robot grinding arm and the workpiece. The movement of the robot is controlled by the robot controller. The robot controller communicates with the host computer controller. The control system adopts a centralized control method, and the host computer controls The force sensor is connected to the force sensor to receive real-time force information; the robot controller, as a lower computer, sends real-time pose information to the upper computer controller, receives the pose information to modify the current trajectory, and controls the robot to perform grinding. The host computer controller corrects the position correction in the normal direction through force control according to ...

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Abstract

The invention discloses a force control-based robot polishing trajectory estimation method. The method comprises the steps of S1, acquiring a grinding initial point and obtaining the position of the grinding initial point; S2, carrying out the impedance position correction on the position of the grinding initial point and obtaining a reference position point; S3, judging whether a stop signal is received or not; if not, obtaining the approximate tangential vector of the reference position point, controlling a robot arm to feed a unit displacement in the tangential direction so as to obtain a next grinding initial point, and returning to the step S2; if yes, stopping obtaining the next grinding initial point, and connecting all reference position points according to the sequence obtained bythe reference position points to form a grinding track. According to the invention, the method disclosed by the invention is suitable for a complex workpiece to automatically generate a rough grinding track. By adopting the method, the estimation of a complex unknown outline is more accurate. The grinding initial point is corrected by keeping the machining process force constant, so that a more accurate track point is obtained.

Description

technical field [0001] The invention relates to the technical field of robot processing, in particular to a method for estimating a grinding trajectory of a robot based on force control. Background technique [0002] With the rapid development of robot technology, a large number of robots have been applied to industrial production. With the emergence of perception systems, traditional manufacturing processes such as manual polishing are gradually being replaced by automatic robot polishing. [0003] When using robot grinding, for the workpiece model to be processed, two methods of teaching trajectory planning and offline trajectory planning can be used. When teaching trajectory planning, for the sake of machining accuracy, a large number of processing points need to be taught; offline trajectory planning requires workpiece The 3D model and the precise positioning of the workpiece, using the off-line trajectory planning algorithm, the accuracy is high, but the process is comp...

Claims

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Application Information

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IPC IPC(8): G05B19/408
CPCG05B19/4083G05B2219/35356
Inventor 刘志恒
Owner WUHU HIT ROBOT TECH RES INST
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