Passive compliant robot polishing and grinding path planning system based on visual perception
A technology of visual perception and path planning, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve problems such as complex implementation, and achieve the effect of reducing the scrap rate
Active Publication Date: 2020-12-08
HENAN POLYTECHNIC INST
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Problems solved by technology
The active force control method requires the robot controller to control force and position at the same time, and there is force / position coupling, so the implementation is more complicated.
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[0028] In order to make the objects and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0029] Such as figure 1 As shown, the embodiment of the present invention provides a passive and compliant robot polishing path planning system based on visual perception, including:
[0030] The visual perception module is used to perceive the shape and deformation parameters of the anchored workpiece and the parts to be processed;
[0031] The posture perception module is used to perceive the posture parameters of the polishing robot's anchored workpiece / part to be processed;
[0032] The distance sensing module is used to sense the distance parameter between the anchored workpiece and the part to be processed;
[0033] The anchoring path p...
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The invention discloses a passive compliant robot polishing and grinding path planning system based on visual perception. The system comprises a visual perception module which is used for perceiving the shape and deformation parameters of a polishing and grinding workpiece and a to-be-machined part, a posture sensing module used for sensing posture parameters of the polishing and grinding workpiece / to-be-machined part of a polishing and grinding robot, a distance sensing module used for sensing a distance parameter between the polishing and grinding workpiece and the to-be-machined part, and an anchoring path planning module, wherein the anchoring path planning module is used for, based on a fuzzy network neural algorithm, performing planning of a passive compliant robot polishing and grinding path according to the shape and the deformation parameters, perceived by the visual perception module, of the polishing and grinding workpiece and the to-be-machined part, the posture parameters,sensed by the posture sensing module, of the polishing and grinding workpiece / to-be-machined part of the polishing and grinding robot, and the distance parameter sensed by the distance sensing moduleas well as preset to-be-machined part polishing and grinding target parameters. According to the passive compliant robot polishing and grinding path planning system, the robot polishing and grindingpath can be automatically, rapidly and reasonably planned, and the machining waste part rate of the workpiece is greatly reduced.
Description
technical field [0001] The invention relates to the field of robot polishing path planning, in particular to a passive and compliant robot polishing path planning system based on visual perception. Background technique [0002] In recent years, with the rapid development of robot technology and the transformation and upgrading of manufacturing industry, robots have been increasingly used in industrial fields. Due to the high rigidity and low positioning accuracy of the robot, the traditional position control can no longer meet the operation requirements when performing contact operations such as polishing and grinding. Force detection and control. At present, there are mainly two ways to realize contact force control: active force control and passive force control. The active force control method requires the robot controller to realize force and position control at the same time, and there is force / position coupling, so the realization is more complicated. In comparison,...
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IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/16B25J11/00B25J11/0065B25J9/1664B25J9/1697B25J9/1694
Inventor 任燕屈保中袁贤崔庚彦高功臣韩孟洋张华文
Owner HENAN POLYTECHNIC INST