CN104972362A - Intelligent force control robot grinding system and method - Google Patents
Intelligent force control robot grinding system and method Download PDFInfo
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- CN104972362A CN104972362A CN201410148371.4A CN201410148371A CN104972362A CN 104972362 A CN104972362 A CN 104972362A CN 201410148371 A CN201410148371 A CN 201410148371A CN 104972362 A CN104972362 A CN 104972362A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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Abstract
The invention relates to an intelligent force control robot grinding system. The intelligent force control robot grinding system comprises a computer, an industrial camera, a robot, a robot controller, a calibration and compensation system, a safety protection unit, a force sensor and an automatic knife changing system. The computer is connected with the industrial camera. The robot controller is connected with the computer, the robot, the calibration and compensation system, the safety protection unit, the force sensor and the automatic knife changing system. A method comprises the steps that the computer receives workpiece scanning data collected by the industrial camera, generates a knife path and converts the knife path into the robot posture and the tail end path; calibration and compensation are carried out; the robot controller controls all joints to move while the robot posture and the tail end path are adjusted. Hardware of a high-precision force control grinding system is achieved, the path self-calibration and online compensation technology is adopted, and the machining of a complex hook face with the high requirements for machining precision and surface smoothness can be finished.
Description
Technical field
The invention belongs to large complicated carved sanding and polishing manufacture field, is a kind of Intelligent Force man-controlled mobile robot polishing system of processing and the supporting processing method for complex surface machining thereof specifically.
Background technology
Along with progress and the manufacturing development of science and technology, market constantly increases the demand that sanding and polishing is processed.But, the processing of current China sanding and polishing mainly based on manually, manual polishing inefficiency, waste time and energy, precision is not high, and product homogeneity is poor, the working environment of workers is severe, is difficult to realize automated production, has become the bottleneck that sanding and polishing industry further develops.Therefore, the research of automatically grinding polissoir causes the extensive concern of a lot of colleges and universities, scientific research institution and company.
There are larger working space and arrangement, spatial movement ability very flexibly and price only has 20% of lathe flexibly in robot, in addition robot can better meet the demand of Flexible Manufacture, therefore the application of robot in polishing industry, especially for large complicated workpiece, application such as comprising polishing, polishing, deburring, repair type, reproduce will represent irreplaceable effect.Therefore, the processing of robots equipment having flexible large complicated workpiece will have the increasing market demand.But want robot to carry out Surface Finishing to complex curved surface part, power perception/power control technology is absolutely necessary.
And existing automatic grinding device major part adopts belt sander workpiece polishing mechanism, polished by robotic gripper's workpiece, cannot complete large complicated carved processing; Also do not have power control section above corresponding workpiece polishing mechanism, part adopts Pneumatic pressure to control, but controls that to there is pressure adjusting scope little, the shortcomings such as lags in response due to Pneumatic pressure, cannot complete to process in real time accurately power control.。
Summary of the invention
The main object of the present invention is not enough for the precision of existing automatic grinding device and to large-scale curved problem of processing, can not proposes a kind of can realization large complicated carved Intelligent Force man-controlled mobile robot grinding system and method for carrying out accurate grinding.
The technical scheme that the present invention is adopted for achieving the above object is: Intelligent Force man-controlled mobile robot grinding system, comprises computer, industrial camera, robot, robot controller, calibration and bucking-out system, security protection unit, force snesor and automatic tool changer; Described computer is connected with industrial camera, and robot controller and computer, robot, calibration and bucking-out system, security protection unit, force snesor, automatic tool changer are connected.
Described calibration and bucking-out system comprise laser range finder and are arranged on the reflector of robot end, and described laser range finder is connected with robot controller.
Described security protection unit comprises scram button, safe light curtain, safety door latch switch, warning device and crashproof detector, is all connected with robot controller.
Described Intelligent Force man-controlled mobile robot grinding system also comprises the Virtual Demonstration device be connected with computer, and described Virtual Demonstration device comprises handheld terminal and data record end, and data record end is connected with computer.
Intelligent Force man-controlled mobile robot grinding processing method, comprises the following steps:
Computer receives the workpiece scan-data of industrial camera collection and generates cutter path, and cutter path is converted to robot pose and terminal end path;
Robot controller is calibrated by calibration and bucking-out system robot pose and terminal end path and is compensated;
Robot pose after compensation for calibrating errors and terminal end path are each joint motions of target control by robot controller, according to the control of polishing machined parameters and tool contact power, robot pose and terminal end path are adjusted simultaneously, achieve polish gesture stability in process and constant force of robot automation and control.
Described computer receives the workpiece scan-data of industrial camera collection and generates cutter path and comprise the following steps:
Computer carries out digital scanning by industrial camera to the workpiece that reality is processed and generates some cloud/grid file, then is generated 3 dimension module data of practical work piece by reverse-engineering;
3 dimension module data and the part model data used during design are compared, draws the size difference between workpiece to be processed model data and actual 3 dimension module, this difference is input in tool-path planning software as machined parameters and obtains cutter path.
Described robot pose and the terminal end path of being converted to by cutter path is by robot path planning's software simulating.
Describedly cutter path is converted to robot pose and terminal end path is realized by Virtual Demonstration device, specifically by the walking path of handheld terminal simulation actual machine robot end, the cutter path of simulation, translational speed, contact force, cutting-tool angle are recorded to computer by data record end.
Described robot controller to be calibrated robot pose and terminal end path by calibration and bucking-out system and compensation comprises the following steps:
1) using robot institute articulate zero point as each initial initial point, record each initial initial point by laser range finder;
2) robot controller control machine robot end moves setpoint distance from starting point, then measures the coordinate of the point of arrival by laser range finder;
3) laser range finder obtains the measured value of robot end's walking according to starting point and the point of arrival, and this value and setpoint distance carry out contrasting and poor by robot controller, draw the error of robot ambulation;
4) step 2 is repeated)-3) repeatedly obtain AME, be input to robot controller as calibration data, this calibration data be converted to each joint attitude error and sue for peace with each joint attitude respectively, namely obtain the robot pose after compensation for calibrating errors.
The described control according to polish machined parameters and tool contact power is carried out adjustment to robot pose and terminal end path and is specially: adjust each joint attitude according to the controling parameters that polishing parameters knowledge storehouse exports:
A. obtain motor speed reference value according to cutting speed and control each motor speed;
B. obtain compression force reference value according to normal direction cutting force, carry out the closed-loop control of tool contact power with force sensor measuring value;
C. obtain robot pose reference value according to tool inclination angle and control each joint attitude;
D. obtain tool changing order control machine robot end joint according to feed number of times and run arrival automatic tool changer, select tool type and automatically change.
The described control according to polish machined parameters and tool contact power is carried out adjustment to robot pose and terminal end path and is specially: adjust each joint attitude according to the parameter information that Virtual Demonstration device exports:
A. the motor speed in each joint is controlled according to translational speed;
B. carry out the closed-loop control of power as reference value and force sensor measuring value according to contact force;
C. be converted to robot pose reference value according to cutting-tool angle and control each joint attitude.
The present invention has following beneficial effect and advantage:
1. the present invention's generation of adopting Robotmaster off-line programming software can realize complex-curved machining path process and high-precision robot ambulation path; System adopts power control module and automatic tool changer to achieve and processes large complicated carved automation; Polishing parameters knowledge storehouse add the simulation that can realize maximum artificial process, improve polishing processing machining accuracy and surface quality.
2. the present invention is except achieving the hardware of high-precision force console keyboard grinding system, also possess polishing model automated programming and to the self calibration in path and online compensation technology, the complex-curved processing that machining accuracy and surface smoothness are had higher requirements can be completed.
3. the present invention has specificity: the Intelligent Force man-controlled mobile robot polishing system that the present invention be directed to large complicated carved exploitation, can be applicable to the surfacing processing of boats and ships, airplane propellers critical component.
4. the present invention has advance: the Intelligent Force man-controlled mobile robot polishing system of large complicated carved processing based on high-precision robot path planning and force feedback power control realization to complex-curved high accuracy, automation processing.
5. the present invention has opening: this system has friendly user interface and open interface, can namely may be used on different processing environments, meeting the application of different industries by carrying out simple parameter adjustment in Robotmaster software.
6. the present invention has reliability: in the design process of whole system, protects by path planning and actual time safety the security performance that two aspects improve total system.As just completely avoid joint of robot athletic posture and associated workpiece, the dodging of fixture in path planning process; Real-time protection stops module to make in case of emergency operating personnel by collision monitoring and relevant urgency can the operation of halt system immediately.
7. industrial robot is applied in complex-curved grinding technique and goes by the present invention, make whole process automation, native system have employed the advanced intelligent machine based on power/position control simultaneously and adds mechanism, can simulate, the technique that before substituting, major part needs manual polishing just can complete, can improve speed of production greatly, shortens the process-cycle, improve machining accuracy, reduce manufacturing cost.
Accompanying drawing explanation
Fig. 1 is Intelligent Force man-controlled mobile robot grinding system pie graph of the present invention;
Fig. 2 is the flow chart of Intelligent Force man-controlled mobile robot grinding processing method.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The one large complicated carved processing Intelligent Force man-controlled mobile robot system that the present invention proposes, System's composition as shown in Figure 1, comprises automatic machinery people path planning mechanism and adds mechanism based on the intelligent machine of power/position control; Automatic machinery people path planning mechanism comprises computer, Virtual Demonstration device, industrial camera.Intelligent machine based on power/position control adds mechanism and comprises robot and robot controller, calibration and bucking-out system, security protection unit, force snesor and automatic tool changer.Be connected with Virtual Demonstration device, the computer of industrial camera is connected with robot controller, robot controller and robot, calibration and bucking-out system, security protection unit, force snesor, automatic tool changer are connected.
The present invention adopts computer as the high performance graphics work station of senior calculating and graphics processing function, for completing process to actual processing work data and robot path planning, is connected with Virtual Demonstration device and industrial camera.Computer receives the some cloud/grid file of the processing work that industrial camera scanning generates, and 3 dimension module data of practical work piece are obtained by reverse-engineering, 3 dimension module data and the part model data used during design are compared, draw the size difference between workpiece to be processed model data and actual 3 dimension module data, this difference is input in professional machine tool path planning software as machined parameters and obtains cutter path, robot controller is sent to again by robot path planning's Software Create robot pose and terminal end path, realize the segregation reasons to robot path.Computer can also receive cutter path and translational speed, the contact force that simulation sent by Virtual Demonstration device, the information such as cutting-tool angle, and is forwarded to segregation reasons and robot automatically grinding that robot controller realizes robot path.
Computer is equipped with MasterCAM professional knife path planning software and Robotmaster professional machines people path planning software, the cutter path that 3 dimension data and the Virtual Demonstration device from industrial camera can be produced carries out processing and emulating, and then the off-line programing realized robot pose, and the off-line programing data of formation are delivered to robot controller by Ethernet interface.
Industrial camera is connected with computer by Ethernet interface, for carrying out 3 dimension scannings to workpiece to be processed; Virtual Demonstration device comprises handheld terminal and data record end, data record end is connected with computer by serial ports, handheld terminal and data record end adopt optical tracking system, carried out the actual mobile route of dummy robot's end by handheld terminal, the data such as cutter mobile route, translational speed, contact force, cutting-tool angle that handheld terminal is simulated can be recorded to computer by data record end; Wherein the mobile route of handheld terminal changes into robot pose and terminal end path data as cutter path by robot path planning's software Robotmaster, and the data such as translational speed, contact force, cutting-tool angle are respectively used to control motor speed, tool contact power, robot pose be recorded to computer as machined parameters and be sent to robot controller.
Intelligent machine based on power/position control of the present invention add mechanism for realize adding man-hour robot pose control and front end power control.Its alignment and bucking-out system comprise laser range finder and are arranged on the reflector in robot end joint, features localization method is adopted to carry out off-line calibration to the precision in robot motion joint, laser range finder is connected with robot controller by serial ports, by the compensation data of off-line calibration in joint of robot exercise data, achieve the real-Time Compensation to robot motion's track.
Robot adopts industrial general 6 axle robot, can realize larger spatial degrees of freedom.Between the end joint of robot and cutter, force snesor is installed, be connected with robot controller by profibus bus, the cutter front end contact force of perception can be delivered to robot controller in real time, by forming online closed-loop control system with the power control model calling of robot controller inside, the force value of the contact force setting value pre-entered and force snesor actual measurement compares by power control module, adjusted the contact force of cutter front end by the attitude adjusting joint of robot, and then realize accurately controlling in real time cutter front end contact force.
Robot working site is provided with automatic tool changer, and according to processing arrangement, various cutters required in process are all pre-installed in automatic tool changer, and automatic tool changer is controlled by PLC, is connected with robot controller by industrial bus.In process, robot controller obtains tool changing order according to feed number of times, and control machine robot end joint arrives automatic tool changer, selects corresponding cutters type and automatically changes.When robot controller detects cutter loss to a certain extent, namely robot controller can judge cutter according to the cutter of setting and working time of such cutter loss is to a certain extent, as exceeded, the working time then thinks should automatic tool changer, driven machine robot end joint moves to the knife rest of automatic tool changer, old cutter is unloaded, automatically more renew cutter simultaneously, complete the process automatically changing cutter.
Security protection unit comprises scram button, safe light curtain, safety door latch switch, warning device, is arranged on the crashproof detector at joint of robot place in addition.Outside operating room of robot, be provided with scram button and warning device, be provided with safe light curtain at the door upper and lower of operating room of robot, door is provided with safety door latch switch, said apparatus is all connected with the input of robot controller.Once press scram button or have people to be strayed into operating room, or robot occurs that the abnormal operation such as tool changing failure signal sent by collision, deadlock, power down, automatic tool changer, then robot controller control quits work and reports to the police, and realizes protecting the actual time safety of whole system.
Robot controller is connected by Ethernet interface with computer, mainly completes robot pose and the control in path, the realization of power control function and real-time security protection.Its software comprises initialization module, programming module, user program operation module, motion planning module, power control module, motor drive module, Non-follow control and locating module, interface display module, I/O processing module, fault processing module and safety protection module.Wherein, the attitude in each joint of cutting-tool angle information control obtained simulated by the robot pose sent according to computer of motion planning module and terminal end path information and Virtual Demonstration device; Power control module simulates the contact force desired value of contact force or the polishing parameters knowledge storehouse setting obtained according to Virtual Demonstration device, and the measured value of force snesor feedback carries out the closed-loop control of contact force; The motor that the cutting speed control cincture cutter that motor drive module sets according to the translational speed of Virtual Demonstration device or polishing parameters knowledge storehouse rotates and the motor speed driving each joint motions; Non-follow control and locating module are used for on-site manual control machine person joint's attitude and locate; Interface display module is used for the man-machine interaction such as display device people running parameter (as grinding parameter information, robot pose, contact force measured value etc.) and operation indicating; Fault processing module and safety protection module are for receiving the abnormal signal of security protection unit and control stops and reporting to the police.
As shown in Figure 2, the processing method based on large-scale curved intelligent robot grinding system comprises the following steps:
1.3 dimension module data genaration and tool-path planning:
For the workpiece that need process, first by industrial camera, digital scanning is carried out to the workpiece that reality is processed and generate some cloud/grid file, 3 dimension module data of practical work piece are generated again by grid process/reverse-engineering, then compare with the model data used during design, this step adopts digital graphics to calculate and display, and allow operator to finely tune according to practical work piece 3 dimension module data, and then draw size difference between workpiece to be processed (model data used during design) and actual 3 dimension module, this difference is input in the path programming of cutter as machined parameters and goes.The 3 dimension module data drawn by step above and size difference are inputed to cutter path programming software as data and can obtain cutter path.The path programming of cutter adopts MasterCAM professional knife path planning Software Create, and this software compensates and cutter deviation compensation with datum drift, and input trade union college deviation and point of a knife side-play amount can realize the accurate adjustment to cutter path respectively.
2. robot ambulation coordinates measurement:
Robot path generates to be adopted in two ways: off-line coordinates measurement and teaching coordinates measurement; Realize respectively by the off-line programing of robot path planning's software and the teach programming of Virtual Demonstration device.
Off-line programing adopts Robotmaster software, the cutter path obtained is converted into robot pose and terminal end path, and can carries out real-time simulation and optimization to the attitude of robot and terminal end path in step 1; This software is with joint of robot error compensation, and machine entered person joint side-play amount can realize the compensation to robot pose.Polish for jointly realizing automation with technique for grinding knowledge base.
For the relatively simple processing work of shape, programming by guiding can be taked.Virtual Demonstration device adopts optical tracking system, the handheld terminal cutter of cutter or simulation being housed by one simulates the walking path of actual machine robot end, the data such as cutter walking path, translational speed, contact force, cutting-tool angle of simulation can be recorded to computer and be sent to robot controller by data record end, changed into the data such as robot pose, motor speed, tool contact power be directly used in the automatically grinding processing realizing robot by robot controller.
3. robot calibration and accuracy compensation:
The robot pose obtain step 2 off-line coordinates measurement and terminal end path adopt features localization method to compensate, and realized, specifically comprise the following steps by calibration and precision compensation system:
Reflector is arranged on the central point in robot end joint, using robot articulate zero point (the acquiescence original state point in joint) as the initial initial point in each joint, each initial initial point is recorded by the laser range finder being arranged at working site, then robot end is allowed to walk one section of air line distance by instruction, the coordinate of the point of arrival is measured again by laser range finder, measured value and given theoretical value are carried out contrasting and poor, draw the error of robot each joint walking precision; Repeat the mean value getting error after above-mentioned steps is repeatedly demarcated, robot controller is input to as calibration data, each joint moving displacement that step 2 is obtained add this AME be compensated after each joint mobile route, and then each joint attitude after being compensated, namely achieve and dynamic compensation is carried out to the movable joint of robot, and then greatly improve the path walking precision of robot.
4. robot automation's polishing:
Robot controller controls according to each joint attitude after compensating, the power of force snesor that arranges based on robot front end and polishing parameters knowledge storehouse realizes precisely repairing type to processing work.In conjunction with the polishing parameters knowledge storehouse of simulating manual polishing or the parameter information obtained by Virtual Demonstration device, the process of manual polishing farthest can be simulated.
Polishing parameters knowledge storehouse has preset manual polishing according to different processing technologys and has adopted machined parameters, comprise cutting speed, normal direction cutting force, tool inclination angle, feed number of times etc., be respectively used to control motor speed, contact force, robot pose and tool type (automatic tool changer) etc., export the controling parameters for robot controller can identify, comprise motor speed reference value, compression force reference value, robot pose reference value, tool changing order.
Also there is in bruting process the safeguard protection support of robot simultaneously; when the impact detector being arranged on each joint of machine detects collision; or the abnormal information of other partial feedbacks of security protection unit; robot controller just can direct breakaway force control state stop the operation of robot, reaches the object of real-time guard.
Robot automation's polishing can be divided into two kinds of modes, and mode one concrete steps are as follows:
Robot controller makes robot end move along the path after compensation according to each joint each joint motions of gesture stability after compensation;
The controling parameters simultaneously exported according to polishing parameters knowledge storehouse adjusts each joint attitude:
A. obtain according to cutting speed the motor speed that motor speed reference value controls each joint, wherein motor comprises the motor that carry its tools rotates and the motor driving each joint motions;
B. obtain according to normal direction cutting force the closed-loop control that compression force reference value and force sensor measuring value carry out power: obtain the robot end's displacement in power control according to the error of power measured value and reference value, each joint attitude is converted to, with this attitude for each joint of target control robot is moved according to this displacement;
C. obtain robot pose reference value according to tool inclination angle to control each joint attitude and reach attitude reference value;
D. obtain tool changing order control machine robot end joint according to feed number of times and arrive automatic tool changer, select mould-type and automatically change;
Mode two concrete steps are as follows:
Robot controller makes robot end move along the path after compensation according to each joint each joint motions of gesture stability after compensation;
The parameter information simultaneously exported according to Virtual Demonstration device adjusts each joint attitude:
A. control the motor speed in each joint as reference value according to translational speed;
B. according to contact force as the closed-loop control carrying out power with reference to value and force sensor measuring value: obtain the robot end's displacement in power control according to the error of power measured value and reference value, each joint attitude is converted to, with this attitude for each joint of target control robot is moved according to this displacement;
C. be converted to robot pose reference value according to cutting-tool angle to control each joint attitude and reach attitude reference value;
For the different operations of polishing, cutter is applied to the active force of different parameters, by the feedback of force snesor, robot controller can regulate the attitude of joint of robot in real time and then the constant force realized in process controls.
Claims (11)
1. Intelligent Force man-controlled mobile robot grinding system, is characterized in that: comprise computer, industrial camera, robot, robot controller, calibration and bucking-out system, security protection unit, force snesor and automatic tool changer; Described computer is connected with industrial camera, and robot controller and computer, robot, calibration and bucking-out system, security protection unit, force snesor, automatic tool changer are connected.
2. Intelligent Force man-controlled mobile robot grinding system according to claim 1, is characterized in that: described calibration and bucking-out system comprise laser range finder and be arranged on the reflector of robot end, and described laser range finder is connected with robot controller.
3. Intelligent Force man-controlled mobile robot grinding system according to claim 1, is characterized in that: described security protection unit comprises scram button, safe light curtain, safety door latch switch, warning device and crashproof detector, is all connected with robot controller.
4. Intelligent Force man-controlled mobile robot grinding system according to claim 1, characterized by further comprising the Virtual Demonstration device be connected with computer, and described Virtual Demonstration device comprises handheld terminal and data record end, and data record end is connected with computer.
5. Intelligent Force man-controlled mobile robot grinding processing method, is characterized in that comprising the following steps:
Computer receives the workpiece scan-data of industrial camera collection and generates cutter path, and cutter path is converted to robot pose and terminal end path;
Robot controller is calibrated by calibration and bucking-out system robot pose and terminal end path and is compensated;
Robot pose after compensation for calibrating errors and terminal end path are each joint motions of target control by robot controller, according to the control of polishing machined parameters and tool contact power, robot pose and terminal end path are adjusted simultaneously, achieve polish gesture stability in process and constant force of robot automation and control.
6. Intelligent Force man-controlled mobile robot grinding processing method according to claim 5, is characterized in that described computer receives the workpiece scan-data of industrial camera collection and generates cutter path and comprise the following steps:
Computer carries out digital scanning by industrial camera to the workpiece that reality is processed and generates some cloud/grid file, then is generated 3 dimension module data of practical work piece by reverse-engineering;
3 dimension module data and the part model data used during design are compared, draws the size difference between workpiece to be processed model data and actual 3 dimension module, this difference is input in tool-path planning software as machined parameters and obtains cutter path.
7. Intelligent Force man-controlled mobile robot grinding processing method according to claim 5, is characterized in that described robot pose and the terminal end path of being converted to by cutter path is by robot path planning's software simulating.
8. Intelligent Force man-controlled mobile robot grinding processing method according to claim 5, it is characterized in that describedly cutter path being converted to robot pose and terminal end path is realized by Virtual Demonstration device, specifically by the walking path of handheld terminal simulation actual machine robot end, the cutter path of simulation, translational speed, contact force, cutting-tool angle are recorded to computer by data record end.
9. Intelligent Force man-controlled mobile robot grinding processing method according to claim 5, is characterized in that described robot controller to be calibrated robot pose and terminal end path by calibration and bucking-out system and compensation comprises the following steps:
1) using robot institute articulate zero point as each initial initial point, record each initial initial point by laser range finder;
2) robot controller control machine robot end moves setpoint distance from starting point, then measures the coordinate of the point of arrival by laser range finder;
3) laser range finder obtains the measured value of robot end's walking according to starting point and the point of arrival, and this value and setpoint distance carry out contrasting and poor by robot controller, draw the error of robot ambulation;
4) step 2 is repeated)-3) repeatedly obtain AME, be input to robot controller as calibration data, this calibration data be converted to each joint attitude error and sue for peace with each joint attitude respectively, namely obtain the robot pose after compensation for calibrating errors.
10. Intelligent Force man-controlled mobile robot grinding processing method according to claim 5, is characterized in that the described control according to polish machined parameters and tool contact power is carried out adjustment to robot pose and terminal end path and is specially: adjust each joint attitude according to the controling parameters that polishing parameters knowledge storehouse exports:
A. obtain motor speed reference value according to cutting speed and control each motor speed;
B. obtain compression force reference value according to normal direction cutting force, carry out the closed-loop control of tool contact power with force sensor measuring value;
C. obtain robot pose reference value according to tool inclination angle and control each joint attitude;
D. obtain tool changing order control machine robot end joint according to feed number of times and run arrival automatic tool changer, select tool type and automatically change.
11. Intelligent Force man-controlled mobile robot grinding processing methods according to claim 5, is characterized in that the described control according to polish machined parameters and tool contact power is carried out adjustment to robot pose and terminal end path and is specially: adjust each joint attitude according to the parameter information that Virtual Demonstration device exports:
A. the motor speed in each joint is controlled according to translational speed;
B. carry out the closed-loop control of power as reference value and force sensor measuring value according to contact force;
C. be converted to robot pose reference value according to cutting-tool angle and control each joint attitude.
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