Robot force control grinding and polishing device for complex curved surface and control method

Abstract

The invention discloses a robot force control grinding and polishing device for a complex curved surface and a control method of the robot force control grinding and polishing device. The robot force control grinding and polishing device comprises a six-axis robot arm body, a controller module, a vision module, a voice coil motor active floating mechanism, a six-dimensional force sensor and a tail end grinding and polishing tool module. The visual module is fixed to the tail end of the mechanical arm through a connecting plate and used for obtaining initial track information and positioning. The active floating mechanism is fixed below the visual module connecting plate through a base; the force sensor is fixed below the rotor connecting piece of the floating mechanism; and the grinding and polishing operation module is fixed below the force sensor connecting flange. According to the device, modular split design is adopted, parts of different models are configured according to different machining requirements, the overall structure is not changed, and maintenance is easy; according to the control system, the position and the posture of the mechanical arm and the active floating mechanism are controlled through the corresponding local planners respectively, the global planning track is corrected accordingly, the dynamic response performance of the control system is effectively improved, and the operation quality is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot force-controlled grinding and polishing device for complex curved surfaces and a control method thereof. Background technique [0002] With the proposal of the "Made in China 2025" action program, various industrial fields have begun to accelerate the in-depth integration of informatization and industrialization. Most of the existing robot processing applications are robot contact operations, and the quality of the operation puts forward higher requirements for the robot's force perception ability and force control ability, especially for the processing of complex surfaces, such as grinding and polishing applications. In the application process, the contact force is often required to be constant at a level, and the direction of its force application is stable in the normal direction of the surface. However, most of the complex surface parts processed by casting and mold it...

AI Technical Summary

Problems solved by technology

[0004] When the robot performs grinding and polishing operations on complex curved surfaces, it is difficult to plan the grinding and polishing operation path due to the uncertainty of the curved surface, the robustness and real-time performance of force control directly using the mechanical arm is poor, and the existing part of the terminal compliance device and control method has poor adaptability etc., the present invention provides a robot force-controlled grinding and polishing device for complex curved surfaces and its control method, which can realize adaptive grinding and polishing operations on various complex surfaces, and effectively improve the tracking of the normal direction of the curved surface and the constant Efficiency and stability of grinding and polishing force

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