Self-adapting space motion method for processing technology of industrial robot
A technology of industrial robots and processing technology, which is applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc. It can solve the problems of inability to respond in time, inaccurate continuous motion trajectory of six-degree-of-freedom end effectors, and unstable semi-closed-loop feedback motion control methods and other issues to achieve the effect of promoting stability
Active Publication Date: 2018-07-13
深圳创源航天科技有限公司
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[0003] The traditional robot control system only uses the motion trajectory generated by the D-H method to drive the robot to move, and then responds to the motion states such as position, velocity and acceleration fed back by the joint sensor to form a semi-closed-loop control system for the robot. In fact, due to the existence of motion errors, the six-freedom The continuous motion trajectory of the end effector is imprecise
Moreover, there are interference and noise in the system. These superimposed factors cause the semi-closed-loop feedback motion control method to be unstable, especially when the process state changes and cannot respond in time. Therefore, new requirements need to be put forward for the process control strategy method
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[0027] The technical scheme of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:
[0028] Please refer to figure 1 , figure 2 and image 3 , the present invention provides a fusion mechanism of limited space constraint motion and technology, which specifically includes the following steps:
[0029] (1) Taking the change amount and change rate of the process physical quantity as the representation of the robot's processing state, a mathematical model of the process constraint motion fusion mechanism is established based on the D-H method. The mathematical model includes process constrained motions mapped to corresponding link displacements, velocities and accelerations.
[0030] (2) Use the homogeneous transformation method to describe the pose and transform the robot coordinate system. Obtain the pose transformation matrix of the tool coordinate system {T} relative to the workpiece coordinate syst...
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The invention discloses a self-adapting space motion method for a processing technology of an industrial robot. A robot control system is utilized for acquiring a physical quantity transmitted by an external sensor, a change of a process state is sensed, and then a constrained motion for adjusting the process state is realized in a limited space, so that a process control strategy using a space motion quantity for compensating a process state variable quantity is realized. The self-adapting space motion method for the processing technology of the industrial robot provided by the invention solves the problem of an unstable process state caused by a motion error since a traditional control strategy adopts a process parameter changing method for compensating. The process stability of robot processing can be effectively improved, and the method has a remarkable actual application value.
Description
technical field [0001] The invention relates to a spatial motion method for industrial robot processing technology adaptation, which is used to realize the processing technology stabilization function of the industrial robot control system. Background technique [0002] Industrial robots have the advantages of low cost, high flexibility and small installation space. They can replace CNC machine tools to realize a new processing motion platform. They are widely used in welding parts grinding, casting parts trimming, stamping parts deburring, wheel hubs and molds. polishing etc. However, when processing large parts, robot cutting processing technology has the disadvantages of small processing load, great influence on workpiece stiffness and small removal of workpiece material. In view of the programmability of the robot movement, a six-degree-of-freedom robot offline programming system based on the CAD-CAM-ROBOT data link has been established to solve the trajectory planning ...
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Login to View More IPC IPC(8): B25J11/00B25J9/16
CPCB25J9/1605B25J9/1607B25J9/1612B25J9/1651B25J11/005B25J11/0065
Inventor 徐辉
Owner 深圳创源航天科技有限公司