A remote-operated robot grinding control system based on multi-sensor fusion

Abstract

The invention discloses a remote operation robot grinding control system based on multi-sensor fusion, which includes a robot base and a mechanical arm, and also includes a six-dimensional force sensor, a cutter, a motor, an industrial camera, and a controller; the controller controls movement according to coordinates The robotic arm reaches the working area and controls the industrial camera to collect the image of the component to be processed. The image processing extracts the image features and contour information of the component to be processed, selects the grinding area, plans the grinding path according to the grinding area, and controls the motor and tool at the end of the mechanical arm to be processed. The component performs grinding; the six-dimensional force sensor acquires the force and moment at the end of the mechanical arm under different grinding conditions, and the controller uses the force and moment values ​​predicted by the neural network under the current grinding The forces and moments are PI-controlled and the motion of the robotic arm is PD-controlled. The invention can realize the grinding inside the workpiece and the grinding of irregular parts.

Description

technical field [0001] The invention relates to a grinding control system of a remote operation robot based on multi-sensor fusion, and belongs to the technical field of remote operation robots. Background technique [0002] Grinding and polishing are necessary processes in many industrial productions. The traditional grinding and polishing process is often dominated by manual operations. Dust, noise, and long-term high-intensity repetitive work will make operators physically and mentally exhausted. In addition, manual operations are harmful to the industry. The proficiency of personnel is required to be high, and there is a certain rate of processing errors. [0003] It is an important trend in the development of intelligent robots that robots replace humans to complete these heavy tasks. Nowadays, industrial robots can only be used in the grinding industry to achieve grinding of some basic and regular parts. The grinding method is to fix the tool or grinding wheel on the w...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art, provide a remote operation robot grinding control system based on multi-sensor fusion, solve the problem that the existing robot can only achieve regular grinding of the outer surface of the workpiece, and for the inner surface of the workpiece or The problem that the grinding requirements of irregular shapes cannot be realized

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