Robot track planning method based on large complex component point cloud information

Abstract

The invention belongs to the field of industrial robot machining and discloses a robot track planning method based on large complex component point cloud information. The method includes the steps that a, a point cloud model of a to-be-machined component is reversely reconstructed to obtain a CAD model, and the main normal vector direction of the CAD model, the projection direction and the forwardmoving direction of a robot are set; b, the CAD model is adopted for conducting slicing so that multiple track lines can be obtained, each track line is dispersed into multiple dispersed points, eachdispersed point is projected on the CAD model to obtain a corresponding track point of the dispersed point, the three-dimensional coordinates of the dispersed point and corresponding U and V values;and c, the tangent vector, the auxiliary tangent vector and the main normal vector of the track points are obtained, six-dimensional information of the track points is obtained, the six-dimensional information of each track point is stored according to the preset machining sequence, and a needed robot machining track is obtained. By means of the robot track planning method, the large component robot machining track planning requirement is met, the track planning precision is improved, and good machining quality is ensured.

Description

technical field [0001] The invention belongs to the field of industrial robot processing, and more specifically relates to a robot trajectory planning method based on point cloud information of large and complex components. Background technique [0002] In the processing of large components, such as ship hull grinding, aircraft skin drilling, fan blade grinding, etc., due to complex operations and high processing precision requirements, robot processing can effectively improve processing efficiency and quality. In order to control the processing of the robot conveniently, it is necessary to plan the trajectory of the robot first to obtain the predetermined processing trajectory of the robot. This process mainly includes operations such as data processing of the processing object, parameter setting, trajectory solving and vector information solving. [0003] In the robot machining trajectory planning method, the operator often uses the original design model of the processing...

AI Technical Summary

Problems solved by technology

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a robot trajectory planning method based on point cloud information of large and complex components, by using the point cloud information of large and complex components, that is, by processing the point cloud model collected on site and solution to obtain the trajectory information required by the robot, which meets the needs of large-scale component robot processing trajectory planning, and solves the technical problem that the attitude information of large components in the field does not match the original design model

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