Robot grinding path compensation method, device, electronic device and storage medium

Abstract

The present application discloses a robot grinding path compensation method, device, electronic device and storage medium. The method comprises the following steps: S1, adjusting the robot tool coordinate system; S2, searching for the grinding starting point P0; S3, determining the grinding starting point and the grinding workpiece coordinate system so that the robot will perform the grinding work according to the new workpiece coordinates; S4, setting the single data acquisition cycle time T of the force control system module d Single data scanning cycle time T of the robot system R Perform timing unification to obtain the compensation cycle time; S5. Feedback the collected force control system module position and angle information to the polishing robot control module in each compensation cycle time, calculate the difference between the position and angle of the force control system module recorded at the robot polishing starting point P0 as the compensation value, and then input it into the robot control module in turn to adjust the robot path position and angle in the next compensation cycle time to maintain constant force polishing of the polished workpiece.

Description

Technical Field

[0001] The present application relates to the field of automatic grinding technology, and in particular, to a robot grinding path compensation method, device, electronic device and storage medium. Background Art

[0002] For large workpieces with curved surfaces to be polished, manual polishing is often used, which has high labor intensity, low polishing efficiency and is difficult to ensure the consistency of the polishing effect. Especially in places where there are excessive curved surfaces, it is impossible to accurately control the radius of gyration of the curved surface, which ultimately affects the polishing effect. Therefore, industrial robots are often used to polish workpieces instead of manual polishing, which can effectively improve the quality and efficiency of polishing. However, the control of the polishing force during the robot's automated polishing process has a great impact on the polishing effect. The constant force output method is now mostly used to achieve uniform polishing of the workpiece surface. However, when the surface of the workpiece fluctuates greatly, it will exceed the effective control range of the constant force output system. At this time, the robot's working path needs to be adjusted to ensure that the constant force output system works within the effective and optimal range. There are many existing methods for adjusting the robot's polishing path, but the executable range and situation of the robot's path adjustment are not considered. When the single adjustment amount of the robot's path is too large, the robot will jitter during the polishing process, which will not only directly affect the consistency of the workpiece surface polishing effect, but also reduce the service life of the robot. Summary of the invention

[0003] On one hand, the present application provides a robot grinding path compensation method to solve the technical problem of robot jitter caused by excessive robot path adjustment when adjusting the robot grinding path in the prior art.

[0004] The technical solutions adopted in this application are as follows:

[0005] A robot grinding path compensation method comprises the steps of:

[0006] S1. Before automatic grinding, adjust the robot tool coordinate system so that the robot tool coordinate system angle XYZ coincides with the feedback coordinate system angle γβα of the force control system module;

[0007] S2. After the robot quickly moves to the search point, it starts to slowly approach the workpiece along the Z-axis direction of the robot tool coordinate system to search. When receiving the optimal position feedback signal from the force control system module, the robot's current position and angle information are recorded, and the current position is used as the grinding starting point P0. At the same time, the position and angle information of the force control system module are recorded;

[0008] S3, determine the grinding starting point and the grinding workpiece coordinate system, calculate the robot grinding starting point P0 and the preset trajectory starting point P 10The deviation amount and direction are determined, the workpiece coordinates are translated according to the deviation amount and direction, and the workpiece coordinates of the grinding program are updated, so that the robot will perform the grinding work according to the new workpiece coordinates;

[0009] S4. During the grinding process, the single data collection cycle time T of the force control system module d Single data scanning cycle time T of the robot system R Perform timing unification to obtain the system compensation cycle time T f ;

[0010] S5, in each compensation cycle time, the collected force control system module position and angle information is fed back to the grinding robot control module to calculate the difference between the position and angle of the force control system module recorded at the robot grinding starting point P0 as the compensation value, according to the robot system single data scanning cycle time T R After the compensation value is divided into equal parts, it is input into the robot control module in sequence to adjust the robot path position and angle in stages in the next compensation cycle time, so that the force control system module can maintain constant force grinding on the grinding workpiece within the optimal position and angle range.

[0011] Furthermore, in step S4, the compensation cycle time T f Specifically:

[0012] T f =n*T d =m*T R

[0013] Among them, n and m are multiples.

[0014] Further, in step S5, the step of dividing the compensation value into equal parts according to the single data scanning cycle time of the robot system is specifically as follows:

[0015] According to the single data scanning cycle time T of the robot system R The compensation value is divided into m equal parts.

[0016] Furthermore, the step S5 specifically includes the steps of:

[0017] S51, according to the single data acquisition cycle time T of the force control system module d , collect the position and angle information of the force control system module in real time, and store all the position and angle information of the force control system module collected in the j-1th compensation cycle in the system data processing module;

[0018] S52, taking an average value of the position and angle information of all the force control system modules collected in the j-1th compensation cycle, and calculating the difference between the average value and the position and angle information of the grinding starting point P0 as the compensation value ΔL;

[0019] S53, according to the robot system single data scanning cycle time T R , split the compensation value ΔL into m equal parts, and the split compensation value is ΔL / m, which is used to compensate the Z axis and XY direction of the robot tool coordinates in the next compensation cycle;

[0020] S54, when the polishing robot runs to the jth compensation cycle, the host computer sends the split compensation value ΔL / m to the robot control module m times in sequence, and the time period for each sending of the split compensation value ΔL / m is equal to the single data scanning cycle time T of the robot system R ;

[0021] S55, the robot control module scans the robot system data according to the single cycle time T R , receiving the compensation value m times, each time receiving the split compensation value ΔL / m, and performing m calculations to obtain the trajectory motion target point of the robot after compensation;

[0022] S56, the robot control module controls the robot to move towards the target trajectory x at time t. ’ Movement, in each robot system single data scanning cycle time T R The movement to the new trajectory point is performed once in the jth compensation cycle and is performed m times in total in the jth compensation cycle.

[0023] Furthermore, before taking the average value in step S52, the following steps are further included:

[0024] The position and angle information of all the acquisition force control system modules collected in the j-1th compensation cycle are processed by Gaussian filtering to remove the salt and pepper noise points and reduce the signal interference during the grinding process.

[0025] Furthermore, in the S55, each time receiving the split compensation value ΔL / m, and performing m calculations to obtain the trajectory motion target point after the robot is compensated specifically includes the following steps:

[0026] S551, assuming that the tool coordinate system of the robot is {A}, the workpiece coordinate system of the robot is {B}, and the split compensation value ΔL / m is calculated by the equivalent rotation matrix Calculate the position and posture data that need to be compensated for the robot path in Cartesian space:

[0027] ΔP j =(Δx j-1 , Δy j-1 , Δz j-1 , ΔW j-1 , ΔP j-1 , ΔR j-1 );

[0028] S552: The robot’s end point position and posture data in the Cartesian workpiece coordinate system in the last compensation cycle Fusion compensation data ΔP sent by the host system j , recalculate the robot's motion target position and posture, thereby adjusting the robot's grinding path:

[0029]

[0030] Furthermore, the S56 further comprises the steps of:

[0031] While executing m movements toward the new trajectory point in the jth compensation cycle, steps S51 to S53 are repeated to compensate the Z axis and XY direction of the robot tool coordinates in the j+1th compensation cycle until the position data of the constant force actuator exceeds the detection range, and this point is considered to be the end point of the robot grinding trajectory.

[0032] On the other hand, the present application also provides a robot grinding path compensation device, comprising:

[0033] The coordinate system adjustment module is used to adjust the robot tool coordinate system before automatic grinding, so that the robot tool coordinate system angle XYZ coincides with the feedback coordinate system angle γβα of the force control system module;

[0034] The grinding starting point search module is used for the robot to quickly run to the search point, and then slowly approach the workpiece along the Z-axis direction of the robot tool coordinate system to search. When receiving the optimal position feedback signal of the force control system module, the current position and angle information of the robot are recorded, and the current position is used as the grinding starting point P0, and the position and angle information of the force control system module are recorded at the same time;

[0035] The workpiece coordinate update module is used to determine the grinding starting point and the grinding workpiece coordinate system, and calculate the robot's grinding starting point P0 and the preset trajectory starting point P 10 The deviation amount and direction are determined, the workpiece coordinates are translated according to the deviation amount and direction, and the workpiece coordinates of the grinding program are updated, so that the robot will perform the grinding work according to the new workpiece coordinates;

[0036] The timing unification module is used to unify the single data acquisition cycle time T of the force control system module during the grinding process. d Single data scanning cycle time T of the robot system R Perform timing unification to obtain the system compensation cycle time T f ;

[0037] The robot path compensation module is used to feed back the collected force control system module position and angle information to the polishing robot control module in each compensation cycle time, and calculate the difference between the position and angle of the force control system module recorded at the robot polishing starting point P0 as the compensation value. R After the compensation value is divided into equal parts, it is input into the robot control module in sequence to adjust the robot path position and angle in stages in the next compensation cycle time, so that the force control system module can maintain constant force grinding on the grinding workpiece within the optimal position and angle range.

[0038] On the other hand, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the robot grinding path compensation method when executing the program.

[0039] On the other hand, the present application further provides a storage medium, which includes a stored program, and when the program is run, controls the device where the storage medium is located to execute the steps of the robot grinding path compensation method.

[0040] Compared with the prior art, this application has the following beneficial effects:

[0041] 1. This application collects the position and angle values ​​of the force control system module, thereby indirectly calculating the actual deviation position information between the robot and the workpiece, adjusting the robot's working path, and making the tool grind at a position close to the optimal position and angle. This can achieve constant force grinding of the surface of unknown curved workpieces without the original planned trajectory; greatly reducing the debugging and workpiece position detection time, saving the workpiece processing time, and improving the production cycle;

[0042] 2. This application unifies the data acquisition time of the force control system module and the trajectory adjustment time sequence of the robot system, thereby improving the real-time performance of system data acquisition and path compensation, ensuring that the robot motion trajectory is closer to the workpiece surface grinding trajectory and achieving better trajectory convergence effect.

[0043] 3. This application divides the compensation amount according to the robot scanning cycle and compensates the robot in batches, which solves the robot jitter problem caused by excessive single compensation amount, so that the tool and the workpiece maintain a relatively stable state, avoids inadequate grinding and excessive grinding, ensures the consistency of the workpiece surface grinding effect, and is also beneficial to extend the service life of the robot.

[0044] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 It is a schematic flow chart of a robot grinding path compensation method according to a preferred embodiment of the present application;

[0047] Figure 2 It is a schematic diagram of the composition of the robot grinding path compensation system of the preferred embodiment of the present application;

[0048] Figure 3 It is a schematic diagram of a preferred embodiment of the present application performing Gaussian filtering on a force control signal;

[0049] Figure 4 This is a unified schematic diagram of the uplink and downlink data timing of the system in the preferred embodiment of the present application;

[0050] Figure 5 is a detailed sub-step flow chart of step S5 in this application;

[0051] Figure 6 This is a schematic diagram of a grinding starting point search workpiece data update process according to a preferred embodiment of the present application;

[0052] Figure 7 It is a schematic diagram of a robot polishing scene constructed in a preferred embodiment of the present application;

[0053] Figure 8 This is a schematic diagram of an example of trajectory compensation position calculation of a preferred embodiment of the present application;

[0054] Fig. 9 It is a schematic diagram of the robot trajectory compensation effect within the compensation cycle of the preferred embodiment of the present application;

[0055] Fig.10 This is a schematic diagram of the actual working trajectory effect of the robot after the preferred embodiment of the present application is executed;

[0056] Fig.11 is a schematic diagram of a robot grinding path compensation device module according to another preferred embodiment of the present application;

[0057] Fig.12 is a schematic block diagram of an electronic device entity in a preferred embodiment of the present application;

[0058] Fig.13 is an internal structure diagram of a computer device in a preferred embodiment of the present application;

[0059] In the figure: 1. workpiece; 2. constant force actuator; 3. robot. DETAILED DESCRIPTION

[0060] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0061] Reference Figure 1 , a preferred embodiment of the present application provides a robot grinding path compensation method, comprising the steps of:

[0062] S1. Before automatic grinding, adjust the robot tool coordinate system so that the robot tool coordinate system angle XYZ coincides with the feedback coordinate system angle γβα of the force control system module;

[0063] S2. After the robot quickly moves to the search point, it starts to slowly approach the workpiece 1 along the Z-axis direction of the robot tool coordinate system. When the optimal position feedback signal of the force control system module is received, the current position and angle information of the robot are recorded, where the position information is P0 (x0, y0, z0), and the angle information is (W0, P0, R0). The current position is used as the grinding starting point P0, and the position and angle information of the force control system module L0 = (d0, γ f0 , β f0 , α f0 );

[0064] S3, determine the grinding starting point and the grinding workpiece coordinate system wjob1, calculate the robot grinding starting point P0 (x0, y0, z0) and the preset trajectory starting point P 10 (x 10 ,y 10 , z 10 ), the workpiece coordinates are translated according to the deviation and direction, the workpiece coordinates wjob1 of the grinding program are updated and stored in the robot system, so that the robot will perform the grinding work according to the new workpiece coordinates wjob1. After searching, the workpiece coordinates of the robot change as follows Figure 6 As shown;

[0065] S4. During the grinding process, the single data collection cycle time T of the force control system module d Single data scanning cycle time T of the robot system R Unify the timing and set a reasonable compensation cycle value to obtain the system compensation cycle time T f ;

[0066] S5, in each compensation cycle time, the collected force control system module position and angle information is fed back to the grinding robot control module to calculate the difference between the position and angle of the force control system module recorded at the robot grinding starting point P0 as the compensation value, according to the robot system single data scanning cycle time T RAfter the compensation value is divided into equal parts, it is input into the robot control module in sequence to adjust the robot path position and angle in stages in the next compensation cycle time, so that the force control system module can maintain constant force grinding on the grinding workpiece within the optimal position and angle range.

[0067] like Figure 2 As shown, a constant force actuator 2 is installed on the end flange of the robot 3 of this embodiment, and a grinding tool is installed at the end of the constant force actuator to perform grinding on the workpiece 1. The robot 3 is connected to the robot control module, and the robot control module sends data in real time to control the robot 3, and can obtain the real-time working status of the robot 3, including information such as the robot's position, angle, and speed.

[0068] The force control system module is connected to the system data processing module, and the robot control module is connected to the system data processing module. The downlink data of the system data processing module is: the position and angle data of the constant force actuator in the force control system module; the uplink data is: the position and angle data of the robot path that needs to be adjusted.

[0069] During the robot automatic grinding process, the system data processing module performs edge calculation on the position and angle data of the constant force actuator 2, filters out invalid data, and feeds back to the robot control module to achieve closed-loop feedback of the automatic grinding work.

[0070] The system data processing module includes a communication unit, a data processing unit, and a data storage unit.

[0071] The communication unit receives data from the force control system module, and sends it to the robot control module after calculation and processing.

[0072] The data processing unit processes the position and angle data of the force control system module and calculates the position and angle data that need to be compensated.

[0073] The polishing robot path compensation method proposed in this embodiment, in which the force control data processing and analysis program can be developed using Visual Studio 2019 and MySQL. The force control data in each compensation cycle is collected and stored in MySQL, and the position and angle data of the force control system module are processed and analyzed using Visual Studio 2019, and the data that needs to be compensated to the robot end is calculated and sent to the robot control module.

[0074] Robot polishing scenes such as Figure 7 As shown, the robot 3 starts at the workpiece coordinate wjob1 calibration position and moves along the Y-axis direction at a constant speed V to perform grinding. During the grinding process, if path compensation is not performed, the Z-axis and X-axis data and directions do not change, and the robot tool performs grinding work in the XOY plane.

[0075] During the grinding process, due to the change of the curved surface of the workpiece, the robot 3 needs to perform position compensation on the Z axis and angle compensation on the XY axis in the workpiece coordinate system. The above steps of this embodiment are used to implement automatic grinding of the curved surface workpiece.

[0076] This embodiment provides a robot grinding path compensation method. Compared with the prior art, this method has the following technical advantages:

[0077] 1. This embodiment collects the position and angle value of the force control system module, thereby indirectly calculating the actual deviation position information between the robot and the workpiece, adjusting the robot's working path, and grinding the tool close to the optimal position and angle. It can achieve constant force grinding on the surface of unknown curved workpieces without an original planned trajectory; it greatly reduces the debugging and workpiece position detection time, saves the workpiece processing time, and improves the production cycle.

[0078] 2. This embodiment unifies the data acquisition time of the force control system module and the trajectory adjustment time sequence of the robot system, thereby improving the real-time performance of system data acquisition and path compensation, and improving the problem of deviation in the grinding path caused by inconsistent uplink and downlink data timing, thereby ensuring that the robot motion trajectory is closer to the grinding trajectory of the workpiece surface and achieving better trajectory convergence effect.

[0079] 3. This embodiment divides the compensation amount according to the robot scanning cycle, compensates the robot in batches, and makes the robot perform trajectory adjustment in batches, thereby solving the robot jitter problem caused by excessive single compensation amount, so that the tool and the workpiece maintain a relatively stable state, avoiding inadequate grinding and excessive grinding, ensuring the consistency of the workpiece surface grinding effect, and also helping to extend the service life of the robot.

[0080] Specifically, Figure 4 As shown, in the preferred embodiment of the present application, in step S4, the compensation cycle time T f Specifically:

[0081] T f =n*T d =m*T R

[0082] Among them, n and m are multiples.

[0083] This embodiment uses the method of seeking common multiples to unify the data acquisition time of the force control system module and the trajectory adjustment time sequence of the robot system, thereby improving the real-time performance of system data acquisition and path compensation, ensuring that the robot motion trajectory is closer to the workpiece surface grinding trajectory and achieving a better trajectory convergence effect.

[0084] Further, in step S5, the step of dividing the compensation value into equal parts according to the single data scanning cycle time of the robot system is specifically as follows:

[0085] According to the single data scanning cycle time T of the robot system R The compensation value is divided into m equal parts.

[0086] In this embodiment, the compensation value is divided into m equal parts, the number of which is exactly the same as the single data scanning cycle time T of the robot system when the timing is unified. R The benefit of this is to ensure that each compensation value after equal division within each compensation cycle time matches the required supplementary amount within a single data scanning cycle time of the robot system. If the equal division is too much, it will affect the robot's motion execution efficiency, and if it is too little, it may cause the robot's posture adjustment to be too large, causing the robot to have working jitter.

[0087] Specifically, in a preferred embodiment of the present application, the collected force control system data is fed back to the grinding robot control module in each compensation cycle for adjusting the robot path position and angle, so as to ensure that the force control system maintains constant force grinding within the optimal position and angle range. Figure 5 As shown, the step S5 specifically includes the steps of:

[0088] S51, according to the single data acquisition cycle time T of the force control system module d , real-time acquisition of the position and angle information of the force control system module, in the compensation period T f The total number of force control data frames acquired within the period is K = (1 / Td) * n, and is stored in the system data processing module; assuming that the compensation period is the j-1th period, all the position and angle information of the force control system modules acquired within the j-1th compensation period are stored in the system data processing module;

[0089] S52, perform Gaussian filtering on all the position and angle information of the force control system modules collected in the j-1 compensation cycle to remove the salt and pepper noise points and reduce the signal interference during the grinding process (see Figure 3 ) can prevent the tool from vibrating suddenly due to a small change in the workpiece during the grinding process, and avoid interference from erroneous signals in the force control system module.

[0090] Then, after Gaussian filtering, the data of K′ groups of force control modules are used to calculate the average value of the position and angle data of the force control system module after Gaussian filtering in the j-1th compensation cycle:

[0091]

[0092] The position and angle data functions of the force control system module is the average value of the position data in the compensation cycle of the force control system, is the average value of the angle data.

[0093] Taking the average value of the data within the compensation cycle and compensating the robot's working path can make the robot's working path smoother after compensation and the robot's grinding effect more stable and homogeneous;

[0094] The difference between the average value and the position and angle information of the grinding starting point P0 is calculated as the compensation value ΔL, that is, the average value is subtracted from the data recorded by the force control system at the grinding starting point, and the difference ΔL is calculated. This value is the deviation data that needs to be compensated to the robot end within the compensation cycle, wherein the z-axis direction is not adjusted and the XY-axis direction is adjusted, and ΔL is calculated as:

[0095]

[0096] Where d0 is the position data of the grinding starting point P0, Δd t is the compensation value of the robot in the Z-axis direction in Cartesian space, Δγ t , Δβ t is the compensation value of the robot's posture angle in Cartesian space;

[0097] S53, according to the robot system single data scanning cycle time T R , split the compensation value ΔL into m equal parts, and the split compensation value is ΔL / m, which is used to compensate the Z axis and XY direction of the robot tool coordinates in the next compensation cycle;

[0098] S54, when the polishing robot runs to the jth compensation cycle, the host computer sends the split compensation value ΔL / m to the robot control module m times in sequence, and the time period for each sending of the split compensation value ΔL / m is equal to the single data scanning cycle time T of the robot system R ;

[0099] S55, the robot control module scans the robot system data according to the single cycle time T R , receiving compensation values ​​m times, receiving a split compensation value ΔL / m each time, and performing m calculations to obtain m trajectory motion target points after robot compensation. Specifically, the polishing robot implements compensation based on the actual position point of the robot at the end of the previous compensation cycle (j-1 cycle), and the compensation amount each time is ΔL / m; in step S55, the robot implements compensation based on the actual position point of the robot 3 at the end of the previous compensation cycle (j-1 cycle), and the compensation amount each time is ΔL / m, and at the end of the previous compensation cycle, that is, the robot runs to time t=(j-1)T fWhen the robot position point data (in the workpiece coordinate system) is recorded, and the compensation value ΔL / m (already converted to the workpiece coordinate system) transmitted by the system data processing module is integrated, the robot working trajectory is adjusted, and constant force grinding is performed on the workpiece. The final compensation effect is as follows: Fig. 9 As shown;

[0100] S56, the robot control module controls the robot to move along the trajectory x at time t ’ Movement, in each robot system single data scanning cycle time T R The movement to the new trajectory point is performed once in the jth compensation cycle and is performed m times in total in the jth compensation cycle.

[0101] Specifically, in a preferred embodiment of the present application, in said S55, each time receiving the split compensation value ΔL / m, and performing m calculations to obtain the trajectory motion target point after the robot is compensated specifically includes the following steps:

[0102] S551, assuming that the tool coordinate system of the robot is {A}, the workpiece coordinate system of the robot is {B}, and the split compensation value ΔL / m is calculated by the equivalent rotation matrix Calculate the position and posture data that need to be compensated for the robot path in Cartesian space:

[0103] ΔP j =(Δx j-1 , Δy j-1 , Δz j-1 , ΔW j-1 , ΔP j-1 , ΔR j-1 );

[0104] S552: The robot’s end point position and posture data in the Cartesian workpiece coordinate system in the last compensation cycle Fusion compensation data ΔP sent by the host system j , recalculate the robot's motion target position and posture, and thus adjust the robot's polishing path.

[0105]

[0106] In this embodiment, the tool coordinate system of the robot is {A}, and the robot tool coordinate system XYZ coincides with the angle γβα of the force control system module, and the robot workpiece coordinate system is {B}. The robot tool data coordinate is directly converted to the workpiece coordinate by an equivalent rotation matrix.

[0107] In the jth compensation cycle of the system, it is set that the compensation amount sent to the robot by the system data processing module is ΔL / m each time, where ΔL is the position and angle data of the force control system module collected in the previous compensation cycle (j-1th cycle), and the compensation amount ΔL / m data is transformed into the equivalent rotation matrix The compensation required in the current workpiece coordinate system in Cartesian space can be calculated as:

[0108] ΔP j =(Δx j-1 , Δy j-1 , Δz j-1 , ΔW j-1 , ΔP j-1 , ΔR j-1 )

[0109] Where ΔP j Contains the position compensation of the tool TCP point of the robot in Cartesian space:

[0110] (Δx j-1 , Δy j-1 , Δz j-1 ), tool posture compensation: (ΔW j-1 , ΔP j-1 , ΔR j-1 ).

[0111] Analyze from the function curve of time and position compensation, such as Figure 8 As shown, it is a compensation curve in the Z-axis direction, and the force control feedback value of the previous compensation cycle (j-1 cycle) is used to compensate the robot working path of the next cycle (j cycle).

[0112] At the end of the last compensation cycle, the real-time position of the robot is recorded as:

[0113]

[0114] in, The position data of the robot's axis linear movement in the workpiece coordinate system in Cartesian space and posture data

[0115] In the jth compensation cycle, based on point The compensation starts at the coordinates of j is the end point of the compensation cycle (jth cycle).

[0116] The compensation method is as follows: in Cartesian space, the robot performs grinding along the Y axis at the original speed V, performs position compensation in the Z axis direction, and performs angle compensation in the XY direction. jis the motion target value of the robot in the last scanning cycle of the robot system in this compensation cycle (jth compensation cycle), P j The point position and posture data are calculated as follows:

[0117]

[0118] Where m is the number of times the robot performs compensation in a single compensation cycle. and Δz is the real-time position and posture data recorded by the robot system at the end of the previous compensation cycle. j-1 ΔW is the position compensation amount executed each time in the current compensation cycle. j-1 , ΔP j-1 is the angle compensation amount executed each time in the current compensation cycle, with a total of m compensation times, x j ,y j , z j and W j , P j , R j It is the target position data and posture data of the robot moving in Cartesian space during the last scan cycle of the current compensation cycle.

[0119] In the i-th compensation cycle, the robot system has m scanning cycles, and the robot performs working trajectory adjustment compensation m times. The compensation value in each scanning cycle is ΔP j , let 1≤i≤m, i is an integer.

[0120] In this compensation cycle, in the i-th robot scanning cycle, the robot performs grinding along the Y axis at the original speed V. In the Cartesian space, the robot's target position and posture data are calculated as follows:

[0121]

[0122] in, and Δz is the real-time position and posture data recorded by the robot system at the end of the previous compensation cycle. j-1 ΔW is the position compensation amount executed each time in the current compensation cycle. j-1 , ΔP j-1 It is the angle compensation amount executed each time in the current compensation cycle, with a total of m compensation times. ji ,y ji , z ji and W ji , P ji , R ji It is the target position data and posture data of the robot moving in Cartesian space during the i-th robot scanning cycle in the current compensation cycle.

[0123] In the first compensation cycle, the robot system records the position and angle information of the force control system module at the grinding starting point as L0 = (d0, γ f0 , β f0 , α f0 ), the system data processing module sends the compensation amount of ΔL0 / m to the robot system each time. This data is transformed into the equivalent rotation matrix The compensation required for a single scanning cycle of the robot in the first compensation cycle in the current workpiece coordinate system can be calculated as follows:

[0124] ΔP1=(Δx0, Δy0, Δz0, ΔW0, ΔP0, ΔZ0)

[0125] The robot performs grinding along the Y axis at the original speed V. The robot's working trajectory does not perform position compensation, only angle compensation, and the workpiece coordinate Z axis does not rotate. In the first compensation cycle, that is, when j=1, the position and posture data at point P1 are as follows:

[0126]

[0127] Among them, x0, y0, z0 and W0, P0, R0 are the position data and posture data recorded by the robot system when the robot searches for the grinding starting point. x1, y1, z1 and W1, P1, R1 are the target position data and posture data of the robot moving in Cartesian space at the end of the first compensation cycle.

[0128] In the first compensation cycle, the robot has m scanning cycles, and the compensation value in each scanning cycle is ΔP1, assuming 1≤i≤m, i is an integer. In this compensation cycle, the robot performs grinding along the Y axis at the original speed V. The robot motion target position and angle data of the i-th robot scanning cycle are calculated as follows:

[0129]

[0130] Among them, x0, y0, z0 and W0, P0, R0 are the position data and posture data recorded by the robot system when the robot searches for the polishing starting point. 1i ,y 1i , z 1i and W 1i , P 1i ,R 1i It is the target position data and posture data of the robot moving in Cartesian space during the i-th robot scanning cycle in the first compensation cycle.

[0131] Specifically, in a preferred embodiment of the present application, the S56 further includes the steps of:

[0132] While executing m movements toward the new trajectory point in the jth compensation cycle, steps S51 to S53 are repeated to compensate the Z axis and XY direction of the robot tool coordinates in the j+1th compensation cycle until the position data of the constant force actuator exceeds the detection range, and this point is considered to be the end point of the robot grinding trajectory.

[0133] Fig.10 This is a schematic diagram of the actual working trajectory of the robot after execution of the above-mentioned embodiment of the present application. It can be seen from the figure that the present application improves the real-time performance of system data acquisition and path compensation, and ensures that the robot's motion trajectory is closer to the grinding trajectory of the workpiece surface. Compared with the traditional compensation method, the present application has a better convergence effect of the grinding path after compensation.

[0134] like Fig.11 As shown, another preferred embodiment of the present application further provides a robot grinding path compensation device, comprising:

[0135] The coordinate system adjustment module is used to adjust the robot tool coordinate system before automatic grinding, so that the robot tool coordinate system angle XYZ coincides with the feedback coordinate system angle γβα of the force control system module;

[0136] The grinding starting point search module is used for the robot to quickly run to the search point, and then slowly approach the workpiece along the Z-axis direction of the robot tool coordinate system to search. When receiving the optimal position feedback signal of the force control system module, the current position and angle information of the robot are recorded, and the current position is used as the grinding starting point P0, and the position and angle information of the force control system module are recorded at the same time;

[0137] The workpiece coordinate update module is used to determine the grinding starting point and the grinding workpiece coordinate system, and calculate the robot's grinding starting point P0 and the preset trajectory starting point P 10 The deviation amount and direction are determined, the workpiece coordinates are translated according to the deviation amount and direction, and the workpiece coordinates of the grinding program are updated, so that the robot will perform the grinding work according to the new workpiece coordinates;

[0138] The timing unification module is used to unify the single data acquisition cycle time T of the force control system module during the grinding process. d Single data scanning cycle time T of the robot system R Perform timing unification to obtain the system compensation cycle time T f ;

[0139] The robot path compensation module is used to feed back the collected force control system module position and angle information to the polishing robot control module in each compensation cycle time, and calculate the difference between the position and angle of the force control system module recorded at the robot polishing starting point P0 as the compensation value. RAfter the compensation value is divided into equal parts, it is input into the robot control module in sequence to adjust the robot path position and angle in stages in the next compensation cycle time, so that the force control system module can maintain constant force grinding on the grinding workpiece within the optimal position and angle range.

[0140] like Fig.12 As shown, a preferred embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the robot grinding path compensation method in the above embodiment when executing the program.

[0141] like Fig.13 As shown, the preferred embodiment of the present application also provides a computer device, which can be a terminal or a liveness detection server, and its internal structure diagram can be as shown in Fig.13 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with other external computer devices through a network connection. When the computer program is executed by the processor, the steps of the above-mentioned robot grinding path compensation method are implemented.

[0142] Those skilled in the art will understand that Fig.13 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0143] A preferred embodiment of the present application further provides a storage medium, which includes a stored program, and when the program is executed, controls the device where the storage medium is located to execute the steps of the robot grinding path compensation method in the above embodiment.

[0144] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0145] If the functions described in the method of this embodiment are implemented in the form of software functional units and sold or used as independent products, they can be stored in one or more computing devices readable storage media. Based on this understanding, the part of the embodiment of the present application that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computing device (which can be a personal computer, server, mobile computing device or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0146] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0147] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0148] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0149] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0150] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0151] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A robot grinding path compensation method, characterized in that: Includes steps: S1. Before automatic grinding, adjust the robot tool coordinate system so that the robot tool coordinate system angle XYZ coincides with the feedback coordinate system angle γβα of the force control system module; S2. After the robot quickly moves to the search point, it starts to slowly approach the workpiece along the Z-axis direction of the robot tool coordinate system to search. When receiving the optimal position feedback signal from the force control system module, the robot's current position and angle information are recorded, and the current position is used as the grinding starting point P0. At the same time, the position and angle information of the force control system module are recorded; S3, determine the grinding starting point and the grinding workpiece coordinate system, calculate the robot grinding starting point P0 and the preset trajectory starting point P 10 The deviation amount and direction are determined, the workpiece coordinates are translated according to the deviation amount and direction, and the workpiece coordinates of the grinding program are updated, so that the robot will perform the grinding work according to the new workpiece coordinates; S4. During the grinding process, the single data collection cycle time T of the force control system module d Single data scanning cycle time T of the robot system R Perform timing unification to obtain the system compensation cycle time T f ; S5, in each compensation cycle time, the collected force control system module position and angle information is fed back to the grinding robot control module to calculate the difference between the position and angle of the force control system module recorded at the robot grinding starting point P0 as the compensation value, according to the robot system single data scanning cycle time T R After the compensation value is divided into equal parts, it is input into the robot control module in sequence to adjust the robot path position and angle in stages in the next compensation cycle time, so that the force control system module can maintain constant force grinding on the grinding workpiece within the optimal position and angle range.

2. The robot grinding path compensation method according to claim 1, characterized in that: In step S4, the compensation cycle time T f Specifically: T f =n*T d =m*T R Among them, n and m are multiples.

3. The robot grinding path compensation method according to claim 2, characterized in that: In step S5, the step of dividing the compensation value into equal parts according to the single data scanning cycle time of the robot system is specifically as follows: According to the robot system single data scanning cycle time T R The compensation value is divided into m equal parts.

4. The robot grinding path compensation method according to claim 3, characterized in that: The step S5 specifically includes the following steps: S51, according to the single data acquisition cycle time T of the force control system module d , collect the position and angle information of the force control system module in real time, and store all the position and angle information of the force control system module collected in the j-1th compensation cycle in the system data processing module; S52, taking an average value of the position and angle information of all the force control system modules collected in the j-1th compensation cycle, and calculating the difference between the average value and the position and angle information of the grinding starting point P0 as the compensation value ΔL; S53, according to the robot system single data scanning cycle time T R , split the compensation value ΔL into m equal parts, and the split compensation value is ΔL / m, which is used to compensate the Z axis and XY direction of the robot tool coordinates in the next compensation cycle; S54, when the polishing robot runs to the jth compensation cycle, the host computer sends the split compensation value ΔL / m to the robot control module m times in sequence, and the time period for each sending of the split compensation value ΔL / m is equal to the single data scanning cycle time T of the robot system R ; S55, the robot control module scans the robot system data according to the single cycle time T R , receiving the compensation value m times, each time receiving the split compensation value ΔL / m, and performing m calculations to obtain the trajectory motion target point of the robot after compensation; S56, the robot control module controls the robot to move towards the target trajectory x at time t. ’ Movement, in each robot system single data scanning cycle time T R The movement to the new trajectory point is performed once in the jth compensation cycle and is performed m times in total in the jth compensation cycle.

5. The robot grinding path compensation method according to claim 4, characterized in that: Before taking the average value in step S52, the following steps are also included: The position and angle information of all the acquisition force control system modules collected in the j-1th compensation cycle are processed by Gaussian filtering to remove the salt and pepper noise points and reduce the signal interference during the grinding process.

6. The robot grinding path compensation method according to claim 4, characterized in that: In the S55, each time receiving the split compensation value ΔL / m, and performing m calculations to obtain the trajectory motion target point of the robot after compensation specifically includes the following steps: S551, assuming that the tool coordinate system of the robot is {A}, the workpiece coordinate system of the robot is {B}, and the split compensation value ΔL / m is calculated by the equivalent rotation matrix Calculate the position and posture data that need to be compensated for the robot path in Cartesian space: ΔP j =(Δx j-1 ,Δy j-1 ,Δz j-1 ,ΔW j-1 ,ΔP j-1 ,ΔR j-1 ); S552: The robot’s end point position and posture data in the Cartesian workpiece coordinate system in the last compensation cycle Fusion compensation data ΔP sent by the host system j , recalculate the robot's motion target position and posture, thereby adjusting the robot's grinding path:

7. The robot grinding path compensation method according to claim 4, characterized in that: The S56 further comprises the steps of: While executing m movements toward the new trajectory point in the jth compensation cycle, steps S51 to S53 are repeated to compensate the Z axis and XY direction of the robot tool coordinates in the j+1th compensation cycle until the position data of the constant force actuator exceeds the detection range, and this point is considered to be the end point of the robot grinding trajectory.

8. A robot grinding path compensation device, characterized in that: include: The coordinate system adjustment module is used to adjust the robot tool coordinate system before automatic grinding, so that the robot tool coordinate system angle XYZ coincides with the feedback coordinate system angle γβα of the force control system module; The grinding starting point search module is used for the robot to quickly run to the search point, and then slowly approach the workpiece along the Z-axis direction of the robot tool coordinate system to search. When receiving the optimal position feedback signal of the force control system module, the current position and angle information of the robot are recorded, and the current position is used as the grinding starting point P0, and the position and angle information of the force control system module are recorded at the same time; The workpiece coordinate update module is used to determine the grinding starting point and the grinding workpiece coordinate system, and calculate the robot's grinding starting point P0 and the preset trajectory starting point P 10 The deviation amount and direction are determined, the workpiece coordinates are translated according to the deviation amount and direction, and the workpiece coordinates of the grinding program are updated, so that the robot will perform the grinding work according to the new workpiece coordinates; The timing unification module is used to unify the single data acquisition cycle time T of the force control system module during the grinding process. d Single data scanning cycle time T of the robot system R Perform timing unification to obtain the system compensation cycle time T f ; The robot path compensation module is used to feed back the collected force control system module position and angle information to the polishing robot control module in each compensation cycle time, and calculate the difference between the position and angle of the force control system module recorded at the robot polishing starting point P0 as the compensation value. R After the compensation value is divided into equal parts, it is input into the robot control module in sequence to adjust the robot path position and angle in stages in the next compensation cycle time, so that the force control system module can maintain constant force grinding on the grinding workpiece within the optimal position and angle range.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the robot grinding path compensation method according to any one of claims 1 to 7 are implemented.

10. A storage medium comprising a stored program, characterized in that: When the program is running, the device where the storage medium is located is controlled to execute the steps of the robot grinding path compensation method as claimed in any one of claims 1 to 7.

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