Airbag TCP Automatic Calibration Method and System for Robot Force Control Polishing System

Abstract

An airbag TCP automatic calibration method and system for a robotic force control polishing system provided by the present invention are based on an airbag polishing tool including a flexible force control device mounted at the end of an industrial robot. The method includes the steps: the teach pendant receives a pressing-down instruction from the user, and operates the robot according to the pressing-down instruction to make its airbag head approach the solid horizontal plane in a vertically downward posture; the teach pendant receives a repositioning instruction from the user, and operates the robot to perform a repositioning operation according to the repositioning instruction; during the repositioning operation, a sampling module monitors and collects at least 4 groups of sampling data in real time, and sends all the sampling data to a data processing module; the data processing module automatically calculates the position coordinates of the airbag TCP according to the sampling data, obtains the calibration result of the airbag TCP, and sends the calibration result of the airbag TCP to the robot. The present invention reduces the operation difficulty and equipment cost of airbag TCP calibration and improves the production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot control, and in particular to an airbag TCP automatic calibration method and system for a robot force-controlled polishing system. Background Art

[0002] High-precision optical components are widely used in national optical engineering, military defense, aerospace and other fields due to their superior optical properties. It is very important to develop the batch processing level of high-precision optical components. As an emerging polishing technology with great development potential, robot airbag polishing technology has the advantages of good processing flexibility, strong scalability and low cost, which can meet the high-efficiency polishing needs of optical components.

[0003] Before processing, the robot needs to determine the control point coordinates (TCP, Tool Center Point) of its end tool. TCP is often calibrated using the "point-to-point" method of the robot system. However, since the airbag polishing tool is spherical and the radius is usually large, it is impossible to control the airbag center to coincide with the fixed point in space, so the robot's built-in calibration method cannot be used to accurately calibrate TCP, which in turn affects the processing accuracy of the robot airbag polishing. Therefore, it is of great significance to develop a fast and accurate automatic calibration method for robot airbag polishing TCP. Summary of the invention

[0004] In order to solve the above problems in the prior art, the present invention provides an airbag TCP automatic calibration method and system for a robot force-controlled polishing system, which realizes automatic calibration of the airbag TCP calibration.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] In a first aspect, the present invention provides an automatic calibration method for an airbag TCP for a robot force-controlled polishing system, based on an airbag polishing tool including a flexible force-controlled device mounted at the end of an industrial robot, comprising the steps of:

[0007] S1. The teaching pendant receives a downward pressure command from the user, and operates the robot according to the downward pressure command so that the airbag head approaches a solid horizontal plane in a vertical downward posture. The solid horizontal plane is set within the working range of the robot and is parallel to the robot base;

[0008] S2, the teaching pendant receives a repositioning instruction from the user, and operates the robot to perform a repositioning operation according to the repositioning instruction, wherein the repositioning operation is performed with the repositioning center point as the origin, and the repositioning center point is located within the travel of the flexible force control device;

[0009] S3. During the relocating operation, the sampling module monitors and collects N groups of sampling data in real time, and sends all the sampling data to the data processing module, where N≥4 and each group of sampling data includes the pose matrix of the end flange coordinate system of the robot and the downward pressure of the flexible force control device;

[0010] S4. After the relocating operation is completed, the data processing module automatically calculates the position coordinates of the airbag TCP based on the sampling data, obtains the calibration result of the airbag TCP, and sends the calibration result of the airbag TCP to the robot.

[0011] The beneficial effects of the present invention are as follows: Most of the calibration process of the airbag TCP coordinate system is an automatic process under program control. The manual relocating operation method involved is very simple, greatly reducing the operation difficulty of the airbag TCP calibration and improving the production efficiency. At the same time, the present invention uses the end pose feedback by the robot itself combined with the displacement sensor of the force control device to realize the automatic calibration of the airbag TCP, without the need to use other calibration equipment additionally, greatly reducing the equipment cost required for TCP calibration.

[0012] Optionally, the data processing module automatically calculates the position coordinates of the airbag TCP according to the sampling data in step S4, including the steps:

[0013] For any group of sampling data, the pose matrix of the end flange coordinate system in the sampling data is transformed through homogeneous coordinate transformation to obtain the pose matrix of the airbag TCP coordinate system, generating a first equation, and the operation process of the third column in the first equation is extracted to obtain a second equation. When the downward pressure of the airbag TCP in the flexible force control device is 0, its position coordinates relative to the end flange coordinate system of the robot are (xt, yt, zt). The homogeneous coordinate transformation is that after the X-axis, Y-axis, and Z-axis are respectively translated by xt, yt, zt, and then translated downward by the downward pressure amount along the Z-axis;

[0014] Subtract the second equations of two groups of sampling data to obtain a third equation, and obtain the position coordinates of the airbag TCP through at least three third equations.

[0015] Optionally, during the relocating operation, the actual height of the airbag TCP remains unchanged all the time.

[0016] Optionally, the first equation is:

[0017] ;

[0018] Where is the pose matrix of the end flange coordinate system; is the pose matrix of the airbag TCP coordinate system; is the translation of the X-axis, Y-axis, and Z-axis by xt, yt, zt; The downward pressure displacement h in the Z-axis translation i ;

[0019] The expansion of the first equation is as follows:

[0020] ;

[0021] where Z 6,i is the Z-axis coordinate of the end flange coordinate system in the i-th group of sampling data, NZ 6,i , OZ 6,i , AZ 6,i are the components representing the approach vector in the end flange coordinate system in the i-th group of sampling data, and C is the height of the airbag TCP;

[0022] The second equation is:

[0023] ;

[0024] The third equation is:

[0025] ;

[0026] where NZ 6,j , OZ 6,j , AZ 6,j are the components representing the approach vector in the end flange coordinate system in the j-th group of sampling data, and h j is the downward pressure displacement of the flexible force control device in the j-th group of sampling data.

[0027] Optionally, the downward pressure displacement of the flexible force control device in step S1 is within a preset fluctuation range at the middle position of the stroke.

[0028] Optionally, the repositioning center point in step S2 can be:

[0029] When the airbag TCP used in the previous processing is within a preset distance range from the airbag TCP to be calibrated this time, the origin of the TCP used in the previous processing is used as the repositioning center point.

[0030] Optionally, when performing the repositioning operation in step S2, if the sampling module monitors that the downward pressure displacement reaches the upper and lower limits of the flexible force control device, the airbag head will automatically stop.

[0031] Optionally, the sampling data may also only include the third row elements in the pose matrix of the robot end flange coordinate system and the downward pressure displacement of the flexible force control device. In this case, the N groups of sampling data are a two-dimensional matrix of N rows and 5 columns.

[0032] Optionally, the sampling frequency of the sampling module is 3 ms to 100 ms.

[0033] In a second aspect, the present invention provides an airbag TCP automatic calibration system for a robot force control polishing system, comprising:

[0034] A teach pendant, configured to receive a pressing-down instruction from a user, and operate the robot according to the pressing-down instruction, so that the airbag head approaches the solid horizontal plane in a vertically downward posture, the solid horizontal plane being arranged within the working range of the robot and parallel to the robot base; and configured to receive a repositioning instruction from the user, and operate the robot to perform a repositioning operation according to the repositioning instruction, the repositioning operation being performed with a repositioning center point as the origin, and the repositioning center point being located within the stroke of the flexible force control device;

[0035] A sampling module, configured to, during the repositioning operation, monitor and collect N groups of sampling data in real time, and send all the sampling data to a data processing module, where N≥4 and each group of sampling data includes the pose matrix of the robot end flange coordinate system and the pressing-down amount of the flexible force control device;

[0036] The data processing module is configured to, after the repositioning operation ends, automatically calculate the position coordinates of the airbag TCP according to the sampling data, obtain the airbag TCP calibration result, and send the airbag TCP calibration result to the robot.

[0037] Wherein, the technical effects corresponding to the airbag TCP automatic calibration system for the robot force control polishing system provided in the second aspect refer to the relevant descriptions of the airbag TCP automatic calibration method for the robot force control polishing system provided in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic flowchart of the airbag TCP automatic calibration method for the robot force control polishing system according to an embodiment of the present invention;

[0039] Figure 2 is a schematic structural diagram of the repositioning operation involved in an embodiment of the present invention;

[0040] Figure 3 is a schematic framework diagram of the airbag TCP automatic calibration system for the robot force control polishing system according to an embodiment of the present invention.

[0041] DESCRIPTION OF REFERENCE NUMERALS:

[0042] 1. Airbag TCP automatic calibration system for robot force control polishing system;

[0043] 2. Sampling module;

[0044] 3. Data processing module;

[0045] 4. Teach pendant. DETAILED DESCRIPTION

[0046] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0047] Embodiment 1

[0048] This embodiment is suitable for application scenarios where TCP calibration of airbag polishing is required. The existing robot's built-in calibration method cannot accurately calibrate TCP, which in turn affects the processing accuracy of the robot's airbag polishing. This embodiment uses the downward pressure collected by the flexible force control device itself and the real-time monitoring position of the robot itself, through simple manual repositioning operations and automated data monitoring and data processing, to complete the automatic calibration of the robot's airbag TCP. See the following description for details.

[0049] The implementation method of the present application is based on an airbag polishing tool including a flexible force control device mounted on the end of an industrial robot. The flexible force control device refers to a force control device that can passively extend and retract to adapt to the relative position deviation between the tool and the workpiece, which can ensure the stability of the contact force and feedback the deviation value through a built-in displacement sensor. The airbag polishing tool refers to a spherical or hemispherical polishing tool, and its deformation can be ignored when a small polishing force is applied.

[0050] Please refer to Figures 1 to 2 , an automatic calibration method of an airbag TCP for a robot force-controlled polishing system, comprising the steps of:

[0051] S1. The teaching pendant receives a downward pressure command from the user, and operates the robot according to the downward pressure command so that the airbag head approaches a solid horizontal plane in a vertical downward posture. The solid horizontal plane is set within the working range of the robot and is parallel to the robot base.

[0052] Among them, the downward pressure of the flexible force control device in step S1 is within the preset fluctuation range of the middle position of the stroke, which can be referred to here Figure 2 That is, the downward pressure of the flexible force control device should be close to the middle position of its stroke, leaving enough movement margin for the subsequent repositioning operation.

[0053] In this embodiment, the physical horizontal plane can be the workbench surface where the robot is located. The physical horizontal plane and the vertical downward pressure of the airbag head required for calibration do not need to be particularly accurate, and can be visually horizontal or visually vertical.

[0054] S2. The teaching pendant receives the user's repositioning instruction and operates the robot to perform the repositioning operation according to the repositioning instruction. The repositioning operation is performed with the repositioning center point as the origin, and the repositioning center point is within the travel of the flexible force control device.

[0055] The relocation center point in step S2 may be:

[0056] When the airbag TCP used in the last processing is within the preset distance range from the airbag TCP to be calibrated this time, the TCP origin used in the last processing is used as the repositioning center point.

[0057] In this embodiment, the relocation center point can be initially determined by visual inspection or using simple measuring tools. The distance between the relocation center point and the airbag TCP should not be too far, otherwise it may cause insufficient movement margin of the force control device. When the airbag TCP used in the last processing is close to the airbag TCP to be calibrated this time, the last TCP origin can also be directly used as the relocation center point. The relocation center point of this embodiment is as follows: Figure 2 as shown in .

[0058] That is, in the above steps S1 and S2, for any spherical airbag tool of any specification installed, when performing TCP automatic calibration, first ensure that the airbag is in contact with any horizontal surface, and use the repositioning function for the robot.

[0059] Specifically, the user manually controls the robot to perform the repositioning operation with the repositioning center point as the origin. When the real-time monitoring module detects that the downward pressure of the force control device is close to the upper and lower limits, the stop function will be automatically triggered to prevent the airbag head from leaving the contact surface or causing the force control device to overtravel. After the robot stops automatically, the user can change the repositioning direction to continue data collection. The purpose of data collection is to obtain as much raw data as possible to provide it to the data processing module for TCP fitting.

[0060] like Figure 2 As shown in the figure, the second posture and the third posture are different postures in the repositioning operation. The height of the robot end flange origin corresponding to any i-th sampling point relative to the origin of the base coordinate system is Z 6,i , the third row of elements in the pose matrix of the end flange coordinate system are NZ from left to right 6,i , OZ 6,i , A.Z. 6,i , the downward pressure of the force control device is h i , then the data format corresponding to any set of sampling data is defined as [Z 6,i ,NZ 6,i ,OZ 6,i ,AZ 6,I , h i. Assume that after a period of sampling, a total of N sets of sampling data are obtained. A two-dimensional matrix M with N rows and 5 columns is set, and each row contains a sampling data. After the repositioning is completed, this matrix is automatically sent to the data processing module by the real-time monitoring module. That is, in this embodiment, the sampling data may also only include the third row elements in the pose matrix of the robot end flange coordinate system and the downward pressure of the flexible force control device.

[0061] Among them, Figure 2 The O in 6,1 , X 6,1 , Y 6,1 , Z 6,1 are the coordinate information of the end flange in the first pose, and O 6,2 , X 6,2 , Y 6,2 , Z 6,3 are the coordinate information of the end flange in the second pose, and O 6,i , X 6, i , Y 6, i , Z 6, i are the coordinate information of the end flange in the i-th pose. At the same time, O represents the origin of the robot's default tool coordinate system, that is, the center point of the robot end flange. Since the end flange is connected to the sixth axis of the robot, the suffix is named starting with 6.

[0062] S3. During the repositioning operation, the sampling module monitors and collects N sets of sampling data in real time, and sends all the sampling data to the data processing module, where N≥4 and each set of sampling data includes the pose matrix of the robot end flange coordinate system and the downward pressure of the flexible force control device.

[0063] In this embodiment, the sampling frequency of the sampling module is 10 ms. In other embodiments, the sampling frequency of the sampling module is 3 ms to 100 ms.

[0064] In this embodiment, the monitored pose matrix of the robot end flange and the downward pressure of the flexible force control device are in one-to-one correspondence, and it is necessary to ensure that the length of the collected data is greater than 4 groups. After the repositioning is completed, the monitored data is automatically sent to the data processing module in the form of a matrix, and the data processing module automatically performs matrix operations on the input matrix to fit and obtain the coordinate values of the airbag TCP.

[0065] S4. After the repositioning operation is completed, the data processing module automatically calculates the position coordinates of the airbag TCP according to the sampling data, obtains the calibration result of the airbag TCP, and sends the calibration result of the airbag TCP to the robot.

[0066] Among them, when the downward pressure of the flexible force control device is zero, the relative position of the airbag TCP with respect to the robot end flange coordinate system is [xt, yt, zt]. During the repositioning, due to the characteristic of the flexible force control device to adaptively compensate for the relative position error between the tool and the workpiece, the actual height of the airbag TCP can always be kept unchanged. For any sampling data i obtained by the monitoring module, there is the following coordinate transformation relationship: During the repositioning operation, the actual height of the airbag TCP always remains unchanged. That is, in this embodiment, the steps for the data processing module to automatically calculate the position coordinates of the airbag TCP according to the sampling data in step S4 include:

[0067] S31. For any set of sampling data, the pose matrix of the end flange coordinate system in the sampling data is obtained through homogeneous coordinate transformation to get the pose matrix of the airbag TCP coordinate system, generating a first equation, and extracting the operation process of the third column in the first equation to obtain a second equation. When the downward pressure of the airbag TCP in the flexible force control device is 0, its position coordinates relative to the robot end flange coordinate system are (xt, yt, zt), and the homogeneous coordinate transformation is to translate xt, yt, zt along the X-axis, Y-axis, and Z-axis respectively, and then translate the downward pressure along the Z-axis;

[0068] Among them, the first equation is:

[0069] ;

[0070] Among them, is the pose matrix of the end flange coordinate system; is the pose matrix of the airbag TCP coordinate system; is to translate xt, yt, zt along the X-axis, Y-axis, and Z-axis; is to translate the downward pressure h along the Z-axis i ;

[0071] Among them, the expansion of the first equation is:

[0072] ;

[0073] Among them, Z 6,i is the Z-axis coordinate of the end flange coordinate system in the i-th group of sampling data, NZ 6,i , OZ 6,i , AZ 6,i is the component representing the approach vector in the end flange coordinate system in the i-th group of sampling data, and C is the height of the airbag TCP.

[0074] Among them, the second equation is:

[0075] .

[0076] S32. Subtract the second equations of the two sets of sampling data to obtain a third equation, and obtain the position coordinates of the airbag TCP through at least three third equations.

[0077] Among them, subtracting the two second equations to obtain the third equation will eliminate the constant C, that is, the third equation is obtained as:

[0078] .

[0079] Among them, NZ 6,j , OZ 6,j , AZ 6,j are the components representing the approach vector in the end-effector flange coordinate system in the j-th set of sampling data, and h j is the downward pressure of the flexible force control device in the j-th set of sampling data.

[0080] In the above third equation, there are only three unknowns, and the rest of the terms are in the two-dimensional matrix M. Since there are at least 4 sets of sampling data, there will be at least three third equations, so an overdetermined equation can be used to solve it.

[0081] This embodiment does not require additional use of other calibration equipment, which can greatly reduce the operation difficulty and equipment cost of airbag TCP calibration, and improve production efficiency and production benefits.

[0082] Embodiment 2

[0083] Please refer to Figure 3 , the airbag TCP automatic calibration system 1 for the robot force control polishing system includes a teaching pendant 4, a sampling module 2 and a data processing module 3. Among them, the teaching pendant 4 receives the operation instructions of the user to control the robot to operate, and the sampling module 2 is connected to the data processing module 3. Specifically, the teaching pendant 4 implements steps S1 and S2 in Embodiment 1, the sampling module 2 implements step S3 in Embodiment 1, and the data processing module 3 implements step S4 in Embodiment 1.

[0084] Since the system / device described in the above embodiment of the present invention is the system / device adopted for implementing the method of the above embodiment of the present invention, based on the method described in the above embodiment of the present invention, those skilled in the art can understand the specific structure and deformation of the system / device, so it will not be repeated here. Any system / device adopted by the method of the above embodiment of the present invention belongs to the scope to be protected by the present invention.

[0085] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, apparatuses, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) that contain computer-usable program code.

[0086] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (apparatuses), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions.

[0087] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the claims listing several apparatuses, several of these apparatuses can be embodied by the same piece of hardware. The use of the words first, second, third, etc. is only for convenience of expression and does not denote any order. These words can be understood as part of the element name.

[0088] In addition, it should be noted that in the description of this specification, the description of terms such as "an embodiment", "some embodiments", "embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0089] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications after learning the basic creative concepts. Therefore, the claims should be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0090] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention should also cover these modifications and variations.

Claims

1. An airbag TCP automatic calibration method for a robotic force-controlled polishing system, based on an airbag polishing tool including a flexible force control device mounted at the end of an industrial robot, characterized in that, Including the steps: S1. The teaching pendant receives the user's pressing-down instruction, and operates the robot according to the pressing-down instruction, so that its airbag head approaches the solid horizontal plane in a vertically downward posture. The solid horizontal plane is set within the working range of the robot and is parallel to the robot base. In step S1, the pressing-down amount of the flexible force control device is within the preset fluctuation range at the middle position of the stroke; S2. The teaching pendant receives the user's repositioning instruction, and operates the robot to perform a repositioning operation according to the repositioning instruction. The repositioning operation is performed with the repositioning center point as the origin. The repositioning center point is located within the stroke of the flexible force control device; S3. During the repositioning operation, the sampling module monitors and collects N groups of sampling data in real time, and sends all the sampling data to the data processing module. Wherein, N≥4, and each group of sampling data includes the pose matrix of the robot end flange coordinate system and the pressing-down amount of the flexible force control device; S4. After the repositioning operation ends, the data processing module automatically calculates the position coordinates of the airbag TCP according to the sampling data, obtains the calibration result of the airbag TCP, and sends the calibration result of the airbag TCP to the robot.

2. The airbag TCP automatic calibration method for the robotic force control polishing system according to claim 1, characterized in that In step S4, the data processing module automatically calculates the position coordinates of the airbag TCP according to the sampling data, including the steps: For any group of sampling data, the pose matrix of the end flange coordinate system in the sampling data is transformed through homogeneous coordinate transformation to obtain the pose matrix of the airbag TCP coordinate system, generating a first equation, and extracting the operation process of the third column in the first equation to obtain a second equation. When the pressing-down amount of the airbag TCP in the flexible force control device is 0, its position coordinates relative to the robot end flange coordinate system are (xt, yt, zt). The homogeneous coordinate transformation is to translate xt, yt, and zt along the X-axis, Y-axis, and Z-axis respectively, and then translate along the Z-axis by the pressing-down amount; Subtract the second equations of two groups of sampling data to obtain a third equation, and obtain the position coordinates of the airbag TCP through at least three third equations.

3. The airbag TCP automatic calibration method for the robotic force control polishing system according to claim 2, wherein During the repositioning operation, the actual height of the airbag TCP always remains unchanged.

4. The airbag TCP automatic calibration method for the machine force control polishing system according to claim 3, characterized in that, The first equation is: ； Among them, is the pose matrix of the end flange coordinate system; is the pose matrix of the airbag TCP coordinate system; is the translation of the X-axis, Y-axis, and Z-axis by xt, yt, and zt; is the downward pressure of the Z-axis translation by h i ; The expansion of the first equation is: ； Among them, Z 6,i is the Z-axis coordinate of the end flange coordinate system in the i-th group of sampling data, NZ 6,i , OZ 6,i , AZ 6,i are the components representing the approach vector in the end flange coordinate system of the i-th group of sampling data, and C is the height of the airbag TCP; The second equation is: ； The third equation is: ； Among them, NZ 6,j , OZ 6,j , AZ 6,j are the components representing the approaching vector in the end flange coordinate system in the j-th group of sampling data, and h j is the downward pressing amount of the flexible force control device in the j-th group of sampling data.

5. The airbag TCP automatic calibration method for the robotic force control polishing system according to any one of claims 1 to 4, characterized in that, The repositioning center point in step S2 can be: When the airbag TCP used in the previous processing is within the preset distance range from the airbag TCP to be calibrated this time, the TCP origin used in the previous processing is used as the repositioning center point.

6. The airbag TCP automatic calibration method for a robotic force control polishing system according to any one of claims 1 to 3, characterized in that, When performing the repositioning operation in step S2, if the sampling module monitors that the pressing-down amount reaches the upper and lower limits of the flexible force control device, the airbag head will automatically stop.

7. The airbag TCP automatic calibration method for a robotic force control polishing system according to any one of claims 1 to 3, characterized in that The sampling data may also only include the third row elements in the pose matrix of the robot end flange coordinate system and the pressing-down amount of the flexible force control device. At this time, the N groups of sampling data are a two-dimensional matrix of N rows and 5 columns.

8. The airbag TCP automatic calibration method for a robotic force control polishing system according to any one of claims 1 to 3, characterized in that, The sampling frequency of the sampling module is 3 ms to 100 ms.

9. An airbag TCP automatic calibration system for a robot force control polishing system, including: A teach pendant, which is used to receive a pressing-down instruction from a user and operate a robot according to the pressing-down instruction, so that its airbag head approaches a solid horizontal plane in a vertically downward posture. The solid horizontal plane is set within the working range of the robot and is parallel to the robot base, and the pressing-down amount of the flexible force control device is within a preset fluctuation range at the middle position of the stroke; it is used to receive a repositioning instruction from the user and operate the robot to perform a repositioning operation according to the repositioning instruction. The repositioning operation is performed with a repositioning center point as the origin, and the repositioning center point is located within the stroke of the flexible force control device; A sampling module, which is used to continuously monitor and collect N groups of sampling data during the repositioning operation and send all the sampling data to a data processing module, where N≥4 and each group of sampling data includes the pose matrix of the end flange coordinate system of the robot and the pressing-down amount of the flexible force control device; A data processing module, which is used to automatically calculate the position coordinates of the airbag TCP based on the sampling data after the repositioning operation ends, obtain an airbag TCP calibration result, and send the airbag TCP calibration result to the robot.

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