Robot polishing control system and method

Abstract

The invention is applicable to the technical field of robot polishing, and provides a robot polishing control system. The system comprises a linear laser sensor, a three-dimensional model constructionmodule, a to-be-polished area generation module, a trajectory generation module, a simulation module and a trajectory optimization module; the linear laser sensor scans a to-be-polished workpiece andobtains structural parameters of the to-be-polished workpiece; the three-dimensional model construction module constructs a three-dimensional model of the to-be-polished workpiece; the polishing areageneration module obtains a three-dimensional model of a to-be-polished area on the basis of a CAD model; the trajectory generation module generates a polishing trajectory of the to-be-polished areaand polishing force of corresponding trajectory points; a three-dimensional robot conducts polishing simulation on the basis of the generated polishing trajectory and the generated polishing force ofthe corresponding trajectory points; the trajectory optimization module optimizes the generated polishing trajectory and the generated polishing force of the corresponding trajectory points, and a robot controller controls the robot to conduct polishing on the basis of the optimized polishing trajectory and the optimized polishing force of the corresponding trajectory points. The polishing trajectory is automatically planned based on the automatically-obtained model of the to-be-polished area, the end position of the robot is corrected based on force control in the process of planning the polishing trajectory, the polishing precision can be improved, and the system can be suitable for polishing of complex workpieces.

Description

technical field

[0001] The invention belongs to the technical field of robot grinding, and provides a robot grinding control system and method. Background technique

[0002] At present, most domestic factories and even large-scale engine manufacturing companies have burrs on die-casting workpieces such as engine casings, so further processing is required to remove the burrs so that the surface of the workpiece is smooth without affecting the performance. Deburring of die castings is a major problem in the processing industry, and most of the deburring operations are done manually or using hand-held pneumatics, electric tools for grinding, grinding, filing, etc., which will easily lead to an increase in product defect rate and high labor intensity , the working environment is poor, the production efficiency is not high, the dust will also endanger the health of the staff, and there will be problems such as rough and uneven surface of the processed products. Contents of the ...

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