Prediction method and equipment for robot grinding and polishing removal based on prior knowledge model

Abstract

The invention provides a method and equipment for predicting the removal amount of robot grinding and polishing based on a prior knowledge model. The method includes: acquiring grinding and polishing process parameters, combining the grinding and polishing process parameters and corresponding material removal depths to obtain a training sample set, and denoising the training sample set to obtain a final training sample set; using the final training sample set and materials Remove the empirical model to train the prior knowledge model to obtain a practical prior knowledge model; input the grinding and polishing process parameters into the practical prior knowledge model for regression prediction, and obtain the prediction result of the robot grinding and polishing removal. The invention can assist in realizing the dynamic correction of the grinding and polishing processing system, improve the generalization performance of the practical-level prior knowledge model, optimize the training ability of the practical-level prior knowledge model under small samples, and the practical-level prior knowledge obtained by training The model has good robustness and high prediction accuracy of grinding and polishing material removal.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of robotic grinding and polishing, and in particular, to a method and device for predicting the removal amount of robotic grinding and polishing based on a prior knowledge model. Background technique [0002] As one of the important means to replace CNC grinding and polishing, robot grinding and polishing has been widely used in grinding and other fields. The material removal amount of grinding and polishing is an important evaluation index for the quality of robot grinding and polishing. Accurate prediction of material removal is the key to the closed-loop control of robot intelligent grinding and polishing. However, during the grinding process of the robot, its own stiffness and accuracy change with the change of attitude. In addition, the removal of grinding and polishing materials is a gradual or sudden change in the physical properties of the processing material, the physical prope...

AI Technical Summary

Problems solved by technology

However, during the grinding process, the robot's own stiffness and precision change with the change of posture. In addition, the removal of grinding and polishing materials is caused by gradual or sudden changes in the physical properties of the processing material, the physical properties of the abrasive, the contact mechanism of grinding and polishing, and the processing environment. Under the comprehensive action of the robot grinding and polishing system, it is impossible to accurately predict the amount of material removal under the premise of anti-interference, so it is impossible to realize the feedback control from processing quality to process input, which greatly reduces the operating efficiency of the system and restricts The Development of Intelligent Robot Grinding and Polishing

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