Method and device for tracking normal direction and constant force of robot processing operation

A robot processing and robot technology, applied to normal force tracking in robot processing operations, in the field of robot control, can solve problems such as increasing production costs, difficulty in obtaining processing tracks, and difficulty in normal tracking, etc., to improve force control accuracy , to avoid the effect of cost increase

Active Publication Date: 2020-06-19
SIASUN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, for most processing scenarios, it is difficult to obtain stiffness parameters , so it is difficult to obtain accurate processing trajectory in the end
[0011] In addition, if you want to achieve normal force tracking in processing operations, you usually need to use a 6-dimensional force sensor, which undoubtedly increases production costs
At the same time, due to the friction between the robot end tool and the workpiece, it is difficult to achieve accurate normal tracking

Method used

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  • Method and device for tracking normal direction and constant force of robot processing operation
  • Method and device for tracking normal direction and constant force of robot processing operation
  • Method and device for tracking normal direction and constant force of robot processing operation

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Effect test

Embodiment 1

[0066] Such as figure 2 As shown, the robot processing operation normal constant force tracking method in this embodiment includes the following steps:

[0067] Step S101: Given an initial reference trajectory, including position and attitude

[0068] That is, given a rough reference trajectory , including position and attitude, where the attitude refers to the attitude direction of the end-processing tool of the robot.

[0069] Optionally, the initial reference trajectory can be obtained through teaching points, model export or traction teaching.

[0070] Step S102: controlling the robot to move along the initial reference trajectory, ensuring that the end tool of the robot is always in contact with the workpiece during the movement.

[0071] Set the robot to move along the reference trajectory, and at the same time turn on the force control function, set appropriate force control parameters, such as reference force, damping, etc., to ensure that the end tool of the robo...

Embodiment 2

[0113] Such as image 3 As shown, the difference between this embodiment and the first embodiment is that after updating the trajectory position each time, the attitude must be updated. This method increases the amount of computation, but can further improve the accuracy of the reference trajectory.

[0114] attached Figure 4 An embodiment of the constant force tracking device for the normal direction of the robot processing operation according to the present disclosure is provided. Such as Figure 4 As shown, the device includes:

[0115] The force sensor, as a kind of actual contact force acquisition device of the robot, is used to measure the actual contact force between the end processing tool of the robot and the workpiece, and feed back to the force controller;

[0116] The force controller, that is, the robot force control unit, is used to generate a robot end position adjustment command according to the error between the actual contact force and the expected conta...

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Abstract

The invention provides a robot machining work normal constant force tracking method and device. The method comprises the steps that the initial reference track is given; a robot is controlled to movealong the reference track; according to the error between the actual contact force and the expected contact force, iterative computation and updating of the position of the current reference track areconducted; and based on the updated reference track position and the actual contact force direction, the posture of the reference track is calculated. According to the method, the reference track isintroduced into an existing robot machining force control system, the high-precision reference track is obtained through iterative learning and posture estimation, the outline of a machined workpieceand the posture with which a robot machining tool needs to be kept are reflected, machining is conducted according to the reference track, and normal constant force tracking in the machining work process of various curved surfaces can be achieved. Meanwhile, the robot machining work normal constant force tracking method and device can be achieved only through a three-dimensional force sensor, andcost increasing caused by adopting a six-dimensional force sensor is avoided.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to robot control technology, in particular to a method and device for tracking a normal direction constant force in a robot processing operation. Background technique [0002] At present, the 3C industry has a large demand for robotic grinding, polishing and other applications. Traditional robots use position control, which makes it difficult to maintain a constant contact force during grinding and polishing operations, resulting in uneven processing quality. Therefore, many companies have introduced force sensor-based robotic force-controlled processing solutions. [0003] At present, most of the methods used in force control processing are impedance / admittance control methods (the control block diagram is as follows figure 1 shown). When performing robot processing (grinding, polishing) operations, the contact force and relative position between the robot end tool and the proce...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B25J9/16
CPCB25J9/1633B25J9/1664B25J11/0065
Inventor 杨跞王琰李秀娟汪宇星许楠李法设张一楠
Owner SIASUN CO LTD
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