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ROS-based polishing mechanical arm control system

A control system and robotic arm technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of single work task of industrial robots, inability to grind different complex workpieces, etc., to ensure force control response speed and force control accuracy. , the effect of improving the versatility

Inactive Publication Date: 2020-12-18
HARBIN INST OF TECH
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  • Summary
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention is to solve the problem that most of the existing industrial robots can only complete a single task and cannot grind different complex workpieces, and proposes a ROS-based grinding robot control system

Method used

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  • ROS-based polishing mechanical arm control system
  • ROS-based polishing mechanical arm control system
  • ROS-based polishing mechanical arm control system

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specific Embodiment approach 1

[0059] Specific implementation mode one: the following combination figure 1 This embodiment is described. A ROS-based grinding robot control system described in this embodiment is implemented based on the ROS system framework. The control system includes a grinding trajectory planner 1, a robot arm joint trajectory planner 2, and a ROS control system. device, physical simulation platform 8, robotic arm controller 9, joint state detection unit 10 and three-dimensional display module 12;

[0060] The grinding trajectory planner 1 is used to calculate the area of ​​the workpiece that needs to be polished through the real-time point cloud data at the end of the mechanical arm, and obtain the grinding trajectory of the workpiece;

[0061] The manipulator joint trajectory planner 2 is used to obtain the complete manipulator end trajectory with time information by using the improved RRT algorithm according to the workpiece grinding trajectory, and then calculate and obtain the expect...

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Abstract

The invention relates to a ROS-based polishing mechanical arm control system and belongs to the field of sports control of polishing mechanical arms, and solves the problem that most existing industrial robots only can perform single working tasks and cannot polish different complex workpieces. The system is implemented based on a ROS system frame. The optimum polishing rack is planned online on the surface of the workpiece, and the feasibility of the polishing track is verified in a physical simulation platform, so that the universality of the polished workpiece and the expandability of the system are improved, and the system is suitable for workpieces with various complex curved surfaces. By adopting a force / position mixed control method with variable impedance parameters, the force control response speed and the force control precision of the mechanical arm in different polishing stress stages are guaranteed. The ROS-based polishing mechanical arm control system is suitable for polishing control of workpiece mechanical arms.

Description

technical field [0001] The invention belongs to the field of motion control of a grinding mechanical arm. Background technique [0002] At present, manual grinding is still the main way of processing small blanks. In order to improve the automation level and product quality of grinding, the research of mechanical arm grinding technology has received more and more attention. Compared with special grinding machine tools, the robotic arm has a flexible operating space and can finish grinding workpieces with arbitrary complex surfaces. At the same time, mechanical arm grinding can improve the consistency of grinding products, reduce costs, and reduce injuries to workers. Therefore, the mechanical arm grinding technology is of great significance and value in industrial production. [0003] The motion trajectory planning and force control method of the manipulator are the key technologies to realize the key research of the manipulator grinding task. Most of the existing industr...

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Application Information

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IPC IPC(8): B25J11/00B25J9/16
CPCB25J9/1633B25J9/1664B25J11/0065
Inventor 张国军倪风雷刘宏李志奇林鹏飞
Owner HARBIN INST OF TECH