Robot magneto-rheological polishing pose closed-loop control method based on machine vision

CN120901767APending Publication Date: 2025-11-07INST OF MACHINERY MFG TECH CHINA ACAD OF ENG PHYSICS
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Patent Information

Application Number
CN202511083184.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-08-04
Publication Date
2025-11-07

AI Technical Summary

Technical Problem

Existing robotic magnetorheological polishing methods suffer from poor motion accuracy and rigidity, failing to meet the positioning accuracy requirements of the magnetorheological polishing process. This results in unstable polishing removal efficiency and affects the processing accuracy of optical components.

Method used

A machine vision-based closed-loop control method for robot magnetorheological polishing pose is adopted. By acquiring ribbon contour images, edge detection algorithms and image deconvolution algorithms are used for error compensation to generate CNC programs, thereby achieving precise pose control of the robot in magnetorheological polishing.

Benefits of technology

It achieves precise pose control for robot magnetorheological polishing, improves the removal efficiency and stability of the polishing process, meets high-precision positioning requirements, reduces the requirements for equipment positioning accuracy, and breaks through the limitations of low-precision robot applications.

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Abstract

The invention discloses a robot magneto-rheological polishing pose closed-loop control method based on machine vision, and relates to the technical field of optical element ultra-precision machining, and the robot magneto-rheological polishing pose closed-loop control method comprises the following steps: respectively carrying out uniform polishing with different immersion depths on a plane mirror, and shooting magneto-rheological ribbon widths under different immersion depths in the polishing process; obtaining reference ribbon widths at different immersion depths, and establishing a rule function; a numerical control program of the robot polishing reference pose and speed is generated; executing a reference numerical control program, calculating the deviation between the immersion depth at the moment and the given immersion depth according to a rule function, and converting the deviation into a pose compensation amount; the single-chip microcomputer controls the stepping motor to carry out pose compensation, so that the immersion depth in the whole polishing process is consistent with a set value, and pose errors of the robot are eliminated. By the adoption of the scheme, the normal motion error of the robot can be obtained according to the ribbon contour image, error closed-loop compensation is carried out, the pose of magneto-rheological polishing of the robot is accurately controlled, and the stability of the removal efficiency in the polishing process is improved.
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Citation Information

Cited By

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