A motion control method for machining three-dimensional free-form surfaces by robots

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: 2021-07-02
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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  • A motion control method for machining three-dimensional free-form surfaces by robots
  • A motion control method for machining three-dimensional free-form surfaces by robots
  • A motion control method for machining three-dimensional free-form surfaces by robots

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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 a robot to process a three-dimensional free-form surface, which establishes a position vector and an attitude vector of each small line segment of a machining track, and obtains a position weight factor and an attitude weight factor according to the established position vector and attitude vector; The obtained position weight factor and attitude weight factor are obtained to obtain the position and attitude synthesis vector, and the position and attitude synthesis vector modulus is obtained according to the position and attitude synthesis vector; the synthesis position and attitude vector corresponding to the small line segment is forward-looking and interpolated to obtain multiple interpolations in the small line segment Point distance from the displacement of the starting point of the small line segment; according to the obtained displacement, the position and posture synthesis vector is decomposed, and the interpolation point position interpolation vector and the posture interpolation vector are obtained, and the position information and posture information of the interpolation point are obtained. The method of the present invention Ability to synchronize position and attitude maintaining high-precision features.

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 Patents(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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