Pose optimization and motion fairing calculation method and system for robot measurement and application

Abstract

The invention belongs to the technical field of robot motion posture optimization, and discloses a robot measurement posture optimization and motion fairing calculation method and system and application, according to a CAD model of a to-be-measured part, curved surface parameters are obtained by means of a UG secondary development platform, and an equal parameter method is adopted to generate an initial path and posture information during robot measurement; selecting an interference inspection curved surface, and dispersing the inspection curved surface into data points; constructing a non-interference area for measuring the path points according to the path points measured by the robot and the feature points of the inspection curved surface; according to the workpiece mounting position, the end effector mounting position and the inverse kinematics of the robot, calculating the joint acceleration of the robot during measurement; the joint acceleration is used as an index, an axis deviation angle is measured to establish optimization, a measurement feasible area of each path point is used as a search domain, and segmented optimization is carried out by adopting a differential evolution algorithm. According to the invention, interference-free path generation and smooth movement are realized when the robot carries out measurement on the laser displacement sensor at the clamping point.

Description

technical field [0001] The invention belongs to the technical field of robot movement posture optimization, and in particular relates to a method, system and application of robot measurement posture optimization and motion smoothing calculation. Background technique [0002] At present, with the rapid development of science and technology, complex curved surfaces are widely used in aerospace, automobile, ship and other fields. The manufacture of complex curved surfaces is mostly made by casting. Affected by the difference in thermal shrinkage of different parts during the casting cooling process, the surface allowance of complex curved surfaces formed by casting is uneven and has a large fluctuation range, which requires further finishing. The removal margin is obtained by measurement. The current measurement methods are mainly divided into contact measurement and non-contact measurement. The non-contact measurement has a small working range and is not suitable for complex ...

AI Technical Summary

Problems solved by technology

[0006] The difficulty of this kind of problem is mainly that when the robot clamps the laser displacement sensor for measurement, due to the special structure of the complex curved surface part, the laser displacement sensor is very easy to interfere with the part, and the incident direction of the laser beam when the laser displacement sensor is used for measurement is different from that of the curved surface measurement. The normal of the point cannot have a large angular deviation

Unreasonable interference avoidance will lead to robot motion chatter. How to simultaneously consider the non-interference avoidance of measurement, laser incident angle deviation and robot motion smoothness is the difficulty in solving such problems.

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