Active control method for grinding and polishing machining contact force of robot

Abstract

The invention belongs to the field of robot machining, and particularly discloses an active control method for grinding and polishing machining contact force of a robot. The method comprises the following steps: calculating the expected grinding and polishing amount of robot grinding and polishing machining, and generating a machining path, an expected pose and expected grinding and polishing force in the robot grinding and polishing machining process; obtaining a plurality of position points of the robot in the Z direction of the workpiece coordinate system in the process of moving along the machining path, and constructing a target function according to the position points and the impedance control key parameters; constructing constraint conditions of the key parameters, and obtaining an optimal solution of the key parameters by adopting a weight improved particle swarm algorithm; and updating and adjusting the grinding and polishing pose and the grinding and polishing force of the robot in real time to make the force tracking error of the robot for grinding and polishing along the machining path minimum. According to the method, the tracking effect of impedance control on expected force is effectively improved, the machining precision of robot grinding and polishing machining is improved, and the surface consistency and good surface roughness of machined workpieces are guaranteed.

Description

technical field [0001] The invention belongs to the field of robot processing, and more specifically relates to an active control method for contact force of robot grinding and polishing. Background technique [0002] Robot grinding and polishing technology is widely used in grinding and polishing of various complex parts due to its advantages of high degree of automation, strong adaptability, and ability to engage in high-risk operations. However, in the precision machining process of complex curved surface parts, limited by the low positioning accuracy of the robot, insufficient processing rigidity, complex working environment, and high dependence on the path of offline planning, the robot grinding and polishing process often needs to be equipped with force control. . Therefore, in the grinding and polishing process of the robot, in order to meet the processing quality requirements, it is usually necessary to precisely control the contact force to achieve constant force g...

AI Technical Summary

Problems solved by technology

[0005] Patent document CN110549326A discloses a robot grinding and polishing pose adjustment method based on multiple active compliant controllers, which uses multiple active compliant controllers installed at the end of the robot to calibrate the tool coordinate system, and adjust the position of the tool coordinate system , so that the displacement value of each grinding and polishing tool on the active compliant controller is smaller than the set value, which improves the bonding effect between the grinding and polishing tool and the workpiece, and significantly improves the processing efficiency of the robot grinding and polishing process, but this method requires Install multiple compliant controllers, the degree of control depends to a large extent on the response speed of the controllers, and the control is difficult

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