Motion control method for machining three-dimensional free curved surface through robot

A robot processing and motion control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problem of lack of a good robot motion control method, and achieve the effect of ensuring high-speed characteristics and ensuring stability

Active Publication Date: 2020-09-08
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] To sum up, in the face of the high-speed, high-precision, and stable requirements of the three-dimensional free curve trajectory, there is currently no good robot motion control method.

Method used

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  • Motion control method for machining three-dimensional free curved surface through robot
  • Motion control method for machining three-dimensional free curved surface through robot
  • Motion control method for machining three-dimensional free curved surface through robot

Examples

Experimental program
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Effect test

Embodiment 1

[0052] In a typical embodiment of the present application, in Example 1, a motion control method for machining a three-dimensional free-form surface by a robot includes the following steps:

[0053] Step 1. Establish the position vector and attitude vector of each small line segment of the processing trajectory, and obtain the position weight factor and attitude weight factor according to the established position vector and attitude vector;

[0054] Step 2. Obtain the position and attitude synthesis vector according to the position weight factor and the attitude weight factor obtained, and obtain the position and attitude synthesis vector modulus according to the position and attitude synthesis vector;

[0055] Step 3. Forward-looking and interpolating the synthetic position and attitude vector corresponding to the small line segment to obtain the displacement of multiple interpolation points in the small line segment from the starting point of the small line segment; decompose...

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Abstract

The invention relates to a motion control method for machining a three-dimensional free curved surface through a robot. The position vector and the attitude vector of each small line segment of a machining track are established, and position weight factors and attitude weight factors are obtained according to the established position vectors and attitude vectors; position and attitude composite vectors are obtained according to the obtained position weight factors and attitude weight factors, and position and attitude composite vector moduli are obtained according to the position and attitudecomposite vectors; the position and attitude composite vectors corresponding to the small line segments are prospected and interpolated, and the displacement between multiple interpolation points in the small line segments and initial points of the small line segments is obtained; and the position and attitude composite vectors are decomposed according to the obtained displacement, position interpolation vectors and attitude interpolation vectors of the interpolation points are obtained, and position information and attitude information of the interpolation points are obtained. By means of themethod, position and attitude synchronization is kept at high precision.

Description

technical field [0001] The invention relates to the technical field of motion control of a computer numerical control system, in particular to a motion control method for processing a three-dimensional free-form surface by a robot. Background technique [0002] The statements herein merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] As a kind of numerical control equipment, compared with numerical control machine tools, robots are especially suitable for complex surfaces with large size, low cutting force and low precision requirements due to their advantages of low cost, large working space, high space flexibility and flexible production. processing. [0004] However, in the past robot processing applications, robots were mostly used in simple straight lines, arc trajectories, or scenes that can describe motion trajectories parametrically, such as handling, welding, spraying, drilling, and grinding. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/16
CPCB25J9/1612B25J9/1633B25J11/005
Inventor 张承瑞马威尹贻生胡天亮王公成伍杰张晨
Owner SHANDONG UNIV
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