Generation method for robot processing virtual fixtures

A robot processing and virtual fixture technology, applied in the field of intelligent robots, can solve the problems of long design cycle and poor generalization ability.

Active Publication Date: 2019-05-31
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
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Problems solved by technology

[0004] Further retrieval analysis shows that, on the one hand, the generation of virtual fixtures in the prior art often relies on the existing geometric models, and the construction of virtual fixtures requires strong expe

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  • Generation method for robot processing virtual fixtures
  • Generation method for robot processing virtual fixtures
  • Generation method for robot processing virtual fixtures

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Embodiment Construction

[0049] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0050] figure 1 It is a schematic diagram of the whole process of processing a virtual fixture by a robot constructed according to the present invention. Such as figure 1 As shown, the key improvement of this process method is to introduce the Manifold Learning algorithm to obtain the surface manifold of the part to be processed, and further based on the surface manifold to generate the corres...

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Abstract

The invention belongs to related technical field of intelligent robots, and discloses a generation method for robot processing virtual fixtures. The generation method comprises the following steps: the robot kinesthesis demonstration is performed on parts to be machined, and robot kinesthesis demonstration data sets are acquired; curved surface manifolds of the surfaces of the parts to be machinedare generated according to the acquired demonstration data sets; and virtual fixtures needed by tasks are generated according to the obtained curved surface manifolds. The invention further disclosesa corresponding process of machining complicated curved surfaces by a robot. Compared with the prior art, the generation method not only can generate needed complicated curved surface machining virtual fixtures with higher efficiency and higher precision, but also can fully use generalized characteristics of curved surface manifolds to build the virtual fixtures on similar parts, meanwhile, has the advantages of convenience to control, high stability and high adaptability, and prominently improves the machining quality of finally obtained robot workpieces.

Description

technical field [0001] The invention belongs to the technical field related to intelligent robots, and more specifically relates to a method for generating virtual fixtures for robot processing, which is especially suitable for applications where robots are used to process workpieces such as complex curved surfaces. Background technique [0002] With the continuous improvement of the industrial level, complex curved surfaces are more and more widely used in aerospace engine blades, wind power blades, and high-speed rail body-in-white. Due to its low cost, good flexibility, and high efficiency, robots are widely used in the above-mentioned complex surface grinding and polishing. At present, for difficult-to-program parts of complex surfaces such as damping tables, manual teaching is mainly used. The so-called robot teaching is the process of simulating manual actions through artificial teaching robots, and then specifying the actions that the robot should perform, that is, u...

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Application Information

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IPC IPC(8): B25J9/16
Inventor 赵欢葛科迪丁汉
Owner HUAZHONG UNIV OF SCI & TECH
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