CN106914904B - A kind of complex-curved blade force-location mix control system of processing based on ROS - Google Patents
A kind of complex-curved blade force-location mix control system of processing based on ROS Download PDFInfo
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- CN106914904B CN106914904B CN201710161579.3A CN201710161579A CN106914904B CN 106914904 B CN106914904 B CN 106914904B CN 201710161579 A CN201710161579 A CN 201710161579A CN 106914904 B CN106914904 B CN 106914904B
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- abrasive band
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a kind of force-location mix control system of processing of the complex-curved blade based on ROS, including：Industrial robot, robot control unit, processing unit, power/torque sensor, abrasive band polished machine；Processing unit is used for the feedback information of typing cutter track trajectory planning, power trajectory planning and real-time capacity/torque sensor, so as to obtain cutter track trajectory planning, the Inverse Kinematics Solution of power trajectory planning and be sent to robot control unit in real time；Robot control unit is used to the Inverse Kinematics Solution received being converted to cutter track path instructions and power path instructions, and is sent to industrial robot；Industrial robot is used for clamping blade and the instruction tape movable vane piece of robot control unit is moved around abrasive band polished machine to complete the grinding of blade.The system can effectively realize the force-location mix control of complex-curved blade robot abrasive band grinding and polishing, it is thus possible to accurately control the material removing rate of complex-curved blade and improve its surface integrity.
Description
Technical field
The invention belongs to robot automation's manufacture field, and in particular to a kind of complex-curved BLADE FORCE position based on ROS
Mixing control system of processing, suitable for processing of the robot to blade of aviation engine, turbo blade type face and intake and exhaust side.
Background technology
Blade class complex curved surface parts are as one of kernel components of device such as aero-engine and turbine, to complete machine work
There is very important effect as performance, its geometrical precision and surface quality directly determine the service behaviour and effect of complete machine
Rate.Complex-curved blade belongs to typical difficult processing in field of machining also because its is leaf thin and bending and degreeof tortuosity are big
Part, for its manufacture material also based on unmanageable high temperature alloy, titanium alloy etc., it is low processing efficiency to be present in traditional processing method
And the problems such as low precision.
The processing mode of blade currently still rests on the stage based on artificial grinding and polishing, and the method not only wastes time and energy,
And machining accuracy is also difficult to ensure that.With the continuous increase of blade dimensions, the continuous rising of throughput requirements, blade automation machine
Tool grinding and polishing has become the bottleneck of limitation high quality blade production.
In recent years, due to the rise developed rapidly with labor cost of robot technology, robot is in polishing processing
Gradually paid attention to.Compared with traditional processing mode, robot system not only have flexibility it is good, it is versatile, be easy to expand
The advantages that, and its cost is also well below special purpose machine tool and Digit Control Machine Tool.But write program for robot and realize complicated song
It is heavy that the position ring and power ring of face blade accurately control processing but to become increasingly complex.
The content of the invention
For the above-mentioned problems in the prior art, it is contemplated that the ROS (Robot based on messenger service mechanism
Operating System, robot operating system), structure one kind is easy to establish networking, Distributed Calculation, modularized design
And the blade force-location mix control system of processing with abundant robot software's system development tool.
In order to achieve the above object, the present invention provides a kind of complex-curved blade force-location mix control processing based on ROS
System, it includes：Industrial robot, robot control unit, processing unit, power/torque sensor, abrasive band polished machine；
The output end of the input connection robot control unit of industrial robot；It is single that robot control unit connects processing
Member and with processing unit bi-directional transfer of data；Power/torque sensor is arranged on the polished machine of abrasive band, connect processing unit and with place
Manage unit bi-directional transfer of data；
Abrasive band polished machine position is fixed, for being ground blade；
Processing unit is provided with Ubuntu operating systems and ROS robot operating systems, for typing cutter track trajectory planning,
The feedback information of power trajectory planning and real-time capacity/torque sensor, so as to obtain cutter track trajectory planning, power trajectory planning
Inverse Kinematics Solution and be sent to robot control unit in real time；
Robot control unit is used to the Inverse Kinematics Solution received being converted to cutter track path instructions and power path instructions,
And it is sent to industrial robot；
Industrial robot is used for clamping blade and the instruction tape movable vane piece of robot control unit is moved around abrasive band polished machine
To complete the grinding of blade.
Further, processing unit includes primary processor, first point of processor, second point of processor；
First point of processor is used for the Path layout data Inverse Kinematics solution preocess for performing abrasive band polished machine, and will be to
Primary processor issues the obtained inverse solution control information of Path programming movement, to realize that robot location's ring controls in real time；
Second point of processor is used for the inverse solution preocess of power trajectory planning data motion for performing abrasive band polished machine, to main process task
Device issues the power trajectory planning Inverse Kinematics Solution control information of abrasive band polished machine, realizes that power ring controls in real time；
Primary processor is used for according to the inverse solution control information of the Path programming movement received, the motion of power trajectory planning
Inverse solution control information is learned to industrial robot transmission movement instruction, and the feedback information of capacity/torque sensor, and will
To feedback information be uploaded to first point of processor and second point of processor.
Further, primary processor is additionally operable to send the motion in each joint of industrial robot to robot control unit
Value, and the current location in each joint, the simulating sports of real-time display grinding and polishing process and the drafting of industrial robot are obtained in real time
With record power position data message.
Further, first point of processor is used to perform following closed-loop control：Ground with complex-curved blade robot abrasive band
Cutter track trajectory planning data are thrown as input, meanwhile, receive the joint position information of industrial robot feedback, utilize KDL storehouses pair
Each joint angle information of industrial robot carries out postpositive disposal, realizes the closed-loop control of position ring.
Further, second point of processor is used to perform following closed-loop control：Ground with complex-curved blade robot abrasive band
Power trajectory planning data are thrown as input, meanwhile, utilize the robot control software and for power/torque sensor data of increasing income
The ATI data acquisition C languages storehouse of collection, the power track of blade polishing is sent to primary processor and power/torque sensor in real time
Information, and the feedback of capacity/torque sensor, realize the closed-loop control of power ring.
Further, industrial robot uses the Comau-NJ220-2.7 robots of six degree of freedom；Robot control unit
Using C5G；It is GXK-51P180 that abrasive band polished machine, which uses abrasive band,；Power/torque sensor using ATI omega160 six-dimensional forces/
Torque sensor.
Further, wrist the load 220Kg, repeatable accuracy ± 0.075mm of Comau-NJ220-2.7 robots；ATI
Omega160 six-dimensional forces/torque sensor output voltage is ± 10V, is 0~1000N to stress.
In general, by the contemplated above technical scheme of the present invention compared with prior art, the present invention has as follows
Beneficial effect：
(1) present invention does not recycle windows as development platform, but selects Ubuntu operating systems, uses simultaneously
Software developments and control platform of the robot operating system ROS as robot, make full use of ROS Distributed Calculation, module
Change design and code increasing income property and reusability, with improve the software development of complex-curved blade robot abrasive band grinding and polishing and
Actual processing efficiency.
(2) present invention constructs a kind of complex-curved blade force-location mix control system of processing based on ROS, and the system can
Effectively realize the force-location mix control of complex-curved blade robot abrasive band grinding and polishing, it is thus possible to accurately control complex-curved
The material removing rate of blade and improve its surface integrity.
Brief description of the drawings
Fig. 1 is the polishing system structured flowchart of the present invention；
Fig. 2 is Robot Force position blend closed loop control block diagram.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
The present invention provides a kind of complex-curved blade force-location mix control system of processing based on ROS, and it includes：Industrial machine
Device people, robot control unit, processing unit, power/torque sensor, abrasive band polished machine.
As shown in figure 1, the first embodiment of the present invention, it mainly includes the Comau-NJ220-2.7 works of 1 6DOF
Industry robot, 1 robot control unit (C5G), 1 abrasive band polished machine, 1 ATI omega160 six-dimensional forces/moment sensing
The processor unit that device, 3 processors are formed (the present embodiment is 3 personal computers).The input connection of industrial robot
The output end of robot control unit；Robot control unit connect processing unit and with processing unit bi-directional transfer of data；Power/
Torque sensor is arranged on the polished machine of abrasive band, connect processing unit and with processing unit bi-directional transfer of data；Abrasive band polished machine
Position is fixed, for being ground blade；Processing unit is provided with Ubuntu operating systems and ROS robot operating systems, for recording
Enter the feedback information of cutter track trajectory planning, power trajectory planning and real-time capacity/torque sensor, so as to obtain cutter track track
Planning, the Inverse Kinematics Solution of power trajectory planning are simultaneously sent to robot control unit in real time；Robot control unit is used to connect
The Inverse Kinematics Solution received is converted to cutter track path instructions and power path instructions, and is sent to industrial robot；Industrial robot
Moved for the instruction tape movable vane piece of clamping blade and robot control unit around abrasive band polished machine to complete the grinding of blade.Its
Workflow is：Staff sends power/position data command to robot control unit between unit by operating processor
C5G, C5G coordinate abrasive band mill using the Comau-NJ220-2.7 robots of the interpolation algorithm control clamping blade of its own encapsulation
Throwing machine completes grinding and polishing task.
3 processors are mounted on Ubuntu operating systems and robot operating system ROS processor, wherein 1 is
Primary processor, 2 are to divide processor in addition.First point of processor, second point of processor and primary processor are by writing node
(node), carry out message (msg) using the topic (topic) in ROS or service (service) to transmit, while utilize ROS point
Cloth calculates and modularized design advantage, by primary processor starter node manager (master) and is responsible for emulation, motion control
And data record, the modularized processing of position ring and power ring is each responsible for by first point of processor and second point of processor.
Primary processor using the rviz instrument real-time display robots abrasive band polishing system in ROS simulating sports and make
Power position data message is drawn and recorded with the rxplot in ROS；It is connected by writing hardware driving with robot control unit, and
Movement instruction being sent to robot using ICP/IP protocol and receiving robot motion feedback, its main function is display emulation
Effect, drafting and record power/position data.
First point of processor performs complex-curved blade robot abrasive band grinding and polishing Path layout data by KDL storehouses and transported
It is dynamic to learn inverse solution, and the positional information of inverse solution is sent to topic and subscribed to for primary processor, while receiving position is fed back, and realizes machine
People's position ring controls.
Second point of processor passes through ATIDAQ C Library (ATI data acquisition C languages storehouse) and OROCOS (Open
Robot Control Software) power trajectory planning control information is disposed, force information is issued to primary processor, simultaneously
Force feedback is received, realizes that power ring controls in real time.
Robot control unit C5G and Comau-NJ220-2.7 robots are joined directly together used by the present embodiment, in it
Portion is packaged with position interpolation, safety monitoring etc., can receive the position control instruction for carrying out host processor, and drive robot to transport
It is dynamic, while the movable information of robot can be fed back to primary processor again and form position ring closed-loop control.
In other embodiments, the function of three processors can be done directly by a processor, but using only one
Processor, operand can greatly increase, and arithmetic speed can reduce, and power consumption can improve.
Abrasive band polished machine used by the present embodiment, its contact wheel are rubber contact wheel, have certain elasticity, Ke Yiyou
Avoid to effect the rigid collision between robotic gripper blade and contact wheel.Its used abrasive band is GXK-51P180, i.e., close
The full resin of sand cloth corundum sand band, granularity 180# again are planted, the fine grinding of complex-curved blade can be effectively realized.
As shown in Fig. 2 with the power in the complex-curved blade robot abrasive band process of two independent form controls and
Position.In robot research field, power free space and position free space are two complementary orthogonal subspaces, it is assumed that power
The diagonal matrix of the switching characteristic of free space is S, the unit matrix of total free space is I, then position free space is opened
The diagonal matrix for closing feature is I-S.Pass through the diagonal matrix S of the switching characteristic and inverse matrix J of Jacobian matrix-1, then multiply respectively
Proportional coefficient K is controlled with corresponding powerfProportional coefficient K is controlled with positionp, power free space carry out power control, it is remaining just
Hand over the enterprising line position in direction to put control, finally realize the force-location mix control between Comau machine human and environments.
In the present embodiment, primary processor uses the rviz instrument real-time display Comau robot simulations in ROS to move.
Robot model is started by URDF (Unified Robot Description Format) document definition in launch files
Node manager (master) and multiple nodes (node).Node mainly includes the joint shape of issue (publish) robot
State (joint_state) and tracking coordinate transform (tf), realize robotary (robot_state) renewal, so as to complete
Into simulating sports.And primary processor can use the rxplot in ROS to draw and the position in recorder people abrasive band grinding and polishing
With the data message of power.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (7)
- A kind of 1. force-location mix control system of processing of the complex-curved blade based on ROS, it is characterised in that including：Industrial machine Device people, robot control unit, processing unit, power/torque sensor, abrasive band polished machine；The output end of the input connection robot control unit of industrial robot；Robot control unit connects processing unit simultaneously With processing unit bi-directional transfer of data；Power/torque sensor is arranged on the polished machine of abrasive band, connects processing unit and with handling list First bi-directional transfer of data；Abrasive band polished machine position is fixed, for being ground blade；Processing unit is provided with Ubuntu operating systems and ROS robot operating systems, for typing cutter track trajectory planning, power rail Mark is planned and the feedback information of real-time capacity/torque sensor, so as to obtain the fortune of cutter track trajectory planning, power trajectory planning It is dynamic to learn inverse solution and be sent to robot control unit in real time；Robot control unit is used to the Inverse Kinematics Solution received being converted to cutter track path instructions and power path instructions, concurrently Give industrial robot；Industrial robot is used for clamping blade and the instruction tape movable vane piece of robot control unit is moved with complete around abrasive band polished machine Into the grinding of blade.
- 2. a kind of force-location mix control system of processing of complex-curved blade based on ROS according to claim 1, it is special Sign is that processing unit includes primary processor, first point of processor, second point of processor；First point of processor is used for the Path layout data Inverse Kinematics solution preocess for performing abrasive band polished machine, and will be to main place Reason device issues the obtained inverse solution control information of Path programming movement, to realize that robot location's ring controls in real time；Second point of processor is used for the inverse solution preocess of power trajectory planning data motion for performing abrasive band polished machine, is sent out to primary processor The power trajectory planning Inverse Kinematics Solution control information of cloth abrasive band polished machine, realizes that power ring controls in real time；Primary processor is used for according to the inverse solution control information of the Path programming movement received, power trajectory planning Inverse Kinematics Solve control information and send movement instruction to industrial robot, and the feedback information of capacity/torque sensor, and will obtain Feedback information is uploaded to first point of processor and second point of processor.
- 3. a kind of force-location mix control system of processing of complex-curved blade based on ROS according to claim 2, it is special Sign is that primary processor is additionally operable to send the motion value in each joint of industrial robot to robot control unit, and obtains in real time Take the current location in each joint of industrial robot, the simulating sports of real-time display grinding and polishing process and drafting and record power digit It is believed that breath.
- 4. a kind of force-location mix control system of processing of complex-curved blade based on ROS according to claim 3, it is special Sign is that first point of processor is used to perform following closed-loop control：With complex-curved blade robot abrasive band grinding and polishing cutter track track Layout data is used as input, meanwhile, receive the joint position information that industrial robot feeds back, using KDL storehouses to industrial robot Each joint angle information carry out postpositive disposal, realize the closed-loop control of position ring.
- 5. a kind of force-location mix control system of processing of complex-curved blade based on ROS according to claim 3, it is special Sign is that second point of processor is used to perform following closed-loop control：Advised with complex-curved blade robot abrasive band grinding and polishing power track Data are drawn as input, meanwhile, utilize robot control software and the ATI for power/torque sensor data acquisition of increasing income Data acquisition C language storehouse, the power trace information of blade polishing is sent to primary processor and power/torque sensor in real time, and connect The feedback of stress/torque sensor, realize the closed-loop control of power ring.
- 6. a kind of force-location mix control of complex-curved blade based on ROS according to claim 1-5 any one adds Work system, it is characterised in that industrial robot uses the Comau-NJ220-2.7 robots of six degree of freedom；Robot control is single Member uses C5G；It is GXK-51P180 that abrasive band polished machine, which uses abrasive band,；Power/torque sensor is sextuple using ATI omega160 Power/torque sensor.
- 7. a kind of force-location mix control system of processing of complex-curved blade based on ROS according to claim 6, it is special Sign is that the wrist of Comau-NJ220-2.7 robots loads 220Kg, repeatable accuracy ± 0.075mm；ATI omega160 six Dimension power/torque sensor output voltage is ± 10V, is 0~1000N to stress.
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| CN109986543A (en) * | 2017-12-29 | 2019-07-09 | 深圳光启超材料技术有限公司 | Apply location regulation method and device, robot in robot |
| CN108500978B (en) * | 2018-03-08 | 2021-04-30 | 歌尔股份有限公司 | Robot control device and method and robot |
| CN108875843B (en) * | 2018-07-16 | 2021-05-14 | 昆明理工大学 | Method for generating blade path of mixed-flow water turbine |
| CN108942940B (en) * | 2018-08-01 | 2022-02-22 | 东南大学 | Teleoperation robot polishing control system based on multi-sensor fusion |
| CN112139654A (en) * | 2020-09-24 | 2020-12-29 | 北京工业大学 | Robot friction stir welding online force position hybrid control system |
| CN112809687B (en) * | 2021-02-08 | 2022-04-12 | 上海电气集团股份有限公司 | Simulation method, device and equipment of robot controller |
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| EP2447013B1 (en) * | 2010-10-26 | 2013-06-19 | MTU Aero Engines GmbH | Method and device for machining robot-guided components |
| CN104044049B (en) * | 2013-03-12 | 2016-06-15 | 中国科学院宁波材料技术与工程研究所 | A kind of five-axle linkage polishing system possessing force-feedback control |
| CN104972362B (en) * | 2014-04-14 | 2017-10-31 | 沈阳远大科技园有限公司 | Intelligent Force man-controlled mobile robot grinding system and method |
| CN104708517A (en) * | 2015-03-24 | 2015-06-17 | 北京理工大学 | Industrial robot automatic grinding and polishing system based on ROS |
| CN105127862B (en) * | 2015-08-03 | 2017-08-18 | 华中科技大学无锡研究院 | Industrial robot blade grinding and polishing process based on abrasive band polished machine |
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Effective date of registration: 20200619 Address after: No.329, Yanxin Road, Huishan Economic Development Zone, Huishan District, Wuxi City, Jiangsu Province Patentee after: HUST-WUXI Research Institute Address before: 430074 Hubei Province, Wuhan city Hongshan District Luoyu Road No. 1037 Patentee before: HUAZHONG University OF SCIENCE AND TECHNOLOGY |