A Method for Generating Grinding Trajectory of Complicated Surface Workpiece Based on Inverse Control Point Algorithm

Abstract

The invention discloses a method for generating the grinding trajectory of complex curved surface workpieces based on the inverse control point algorithm. The radius of the grinding disc is used as the coverage radius, and a series of random configurations are obtained as road map nodes, and the 2-norm is used to generate the nodes and Corresponding distance functions of multiple set points, search and connect the initial configuration and the target configuration to obtain the full coverage path of the complex surface, decompose the full coverage path, and calculate through the quintic polynomial trajectory generation expression The constraints of the full-coverage path are determined according to the obtained multiple control points to determine the set point, generate a series of smooth line segments, convert the smooth line segments into robot joint space angles, and form a series of joint joints with multiple joint speeds The angle queue generates the grinding trajectory, improves the accuracy of the grinding trajectory, and then improves the processing accuracy and surface quality of the product.

Description

technical field [0001] The invention relates to the technical field of complex curved surface workpiece grinding, in particular to a method for generating a complex curved surface workpiece grinding track based on an inverse control point algorithm. Background technique [0002] In industrial occasions, there is usually a large amount of fine dust in the grinding process, which has an adverse effect on the health of workers. At the same time, workers maintain the same posture for a long time during the grinding process, which is likely to cause occupational diseases such as waist and neck. . Therefore, industrial robots are usually used to replace human labor. Compared with workers, robots have the advantages of continuous work, high precision, good repeatability, and cost savings for enterprises. At present, the robot grinding process is usually programmed by manual teaching. Because in the manual teaching mode, the operator cannot analyze the shape of the complex workpiec...

AI Technical Summary

Problems solved by technology

At present, the robot grinding process is usually programmed by manual teaching. Because in the manual teaching mode, the operator cannot analyze the shape of the complex workpiece surface from the perspective of mathematics or geometry, the grinding trajectory is not accurate, and the workpiece surface of complex products The unevenness of the flatness leads to the reduction of the processing accuracy and surface quality of the product

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