CN110281108A - A kind of robot flexibility intelligence polishing system based on six-dimension force sensor - Google Patents
A kind of robot flexibility intelligence polishing system based on six-dimension force sensor Download PDFInfo
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- CN110281108A CN110281108A CN201910524443.3A CN201910524443A CN110281108A CN 110281108 A CN110281108 A CN 110281108A CN 201910524443 A CN201910524443 A CN 201910524443A CN 110281108 A CN110281108 A CN 110281108A
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Classifications
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
- B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot flexibility intelligence polishing system, including teaching machine, robot controller, robot body, six-dimension force sensor, polishing and grinding apparatus etc. based on six-dimension force sensor.The six-dimension force sensor is mounted on robot body end, and polishing and grinding apparatus is connect with the six-dimension force sensor other end.Before polishing, the 2 dimensional region of polishing is confined by way of dragging teaching, three-dimensional polishing track is scanned by way of slow analog, pass through the relative pose and polishing power of force snesor Real-time Feedback grinding device and curved surface of polishing in bruting process, the adjustment of grinding device pose is realized by robot controller, to complete to polish.Present invention can be implemented in flexibility polishing work, off-line programing, vision system and 3 D scanning system etc. are not needed, polishing working site total curvature covering is realized by way of real-time force control, it is easy to operate, it is easy to maintain.
Description
Technical field
The present invention relates to industrial robot application field, specifically a kind of robot flexibility intelligence based on six-dimension force sensor
It can polishing system.
Background technique
In industrial processes, polishing is very common process.With the rising of human cost, the polishing of industry spot
Operation is also faced with the urgent need of machine substitute human labor.For most polishing operations, the shape for being polished workpiece is mostly irregular
Curved surface is difficult to complete the programing work of robot by teaching, by compiling offline for the trajectory planning problem in bruting process
The robot motion track that the mode of journey generates is asked by the polishing work, low precision at high cost there are the time etc. of single and mini-batch production
Topic is difficult to be competent at for the mode of the simple off-line programing in flexibility demand polishing scene.Introduce the solution of the modes such as vision
Bring greatly improving for cost.
Chinese invention patent (a kind of free form surface robot polishing system) patent of Publication No. CN103878666A mentions
A kind of robot polishing system concept for carrying out free form surface with robot is gone out, the grinding and polishing of robot is generated by off-line programing
Track compensates the track of off-line programing planning and the deviation of workpiece physical location by air-driven flexible cylinder.Using flexible cylinder
Mode, structure is complicated, and maintenance cost is high, and off-line programing process is complicated, and for working site flexible, limits offline volume
Journey uses.Application No. is the Chinese invention patents of CN106799738A to propose a kind of polishing side for not needing off-line programing in advance
Formula, polishing track boundary are set using computer or are given by modes such as vision systems, cause equipment purchase, maintenance cost substantially
It improves, while operator quality is required high.
Summary of the invention
The problems such as present invention is poor to industry spot flexible adaptation for current polishing system, with high costs, proposes one
Robot flexibility intelligence polishing system of the kind based on six-dimension force sensor.
In order to achieve the above objectives, the present invention includes robot body, six-dimension force sensor, polishing and grinding apparatus, robot control
Device, teaching machine etc., the six-dimension force sensor are mounted on robot body end, polishing and grinding apparatus and the six-dimension force sensor other end
Connection.The robot body is that cooperation robot or industrial robot, the robot controller are electrically connected with robot
It connects, the teaching machine is electrically connected with robot controller；The robot controller is the matched controller of the robot,
The teaching machine is the matched teaching machine of the robot.
The flexible intelligent polishing system also includes real-time force information acquisition module, polishing path planning and real-time force control
Program module, human-computer interaction module.Polishing force information is acquired in real time, is converted by the real-time force signal acquisition module
And it is transmitted in polishing path planning and real-time force control program module, the polishing path planning and real-time force control program module
To being planned for the force signal information that receives polishing path, carry out control to robot pose to complete polishing behaviour
Make, the human-computer interaction module provides human-computer interaction interface and the information for needing operator to set is transmitted to polishing path
Planning in real-time force control program module.
Wherein real-time force information acquisition module includes front end signal processing, AD conversion module, six-dimensional force information acquisition module
Equal submodules；Polishing path planning and real-time force control program module include gravity compensation module, dragging teaching module, two-dimentional boundary
The submodules such as identification module, polishing TRAJECTORY CONTROL module, pose coordinate transformation module；Human-computer interaction module includes polishing system people
Machine interactive interface, human-computer interaction program etc..
In path planning and the real-time force control program module of polishing, gravity compensation module is for accurately compensating polishing and grinding apparatus gravity
It influences；Dragging teaching module is to drag force information control machine by perceiving the artificial teaching of robot end's six-dimension force sensor
The software module that people is mobile to target direction, records and reappears posture information；Two-dimentional boundary recognition module is to identify and integrate behaviour
Make the module that personnel drag the two-dimentional power polishing region boundary information that robot end confines out；The work for TRAJECTORY CONTROL module of polishing
With being to guarantee constant in polishing workpiece surface normal direction polishing power, and bruting process real-time control polishing and grinding apparatus is perpendicular to polishing
Workpiece surface.The effect of pose coordinate transformation module is that the workpiece coordinate system information that TRAJECTORY CONTROL module calculates that will polish resolves
Into robot coordinate system.
The real-time force information acquisition module is integrated in inside six-dimension force sensor in the form of single-chip microcontroller, human-computer interaction
Module is embedded in the form of software in the teaching machine of robot.Polishing path planning and real-time force control program module are with the shape of software
Formula is embedded in the internal processes of the single-chip microcontroller of six-dimension force sensor, or is embedded in the inside of robot controller in the form of software
In program, or it is integrated in individual host computer in the form of software.
The microcontroller communication mode that the six-dimension force sensor is internally integrated supports RS422, Ethercat, Ethernet.
The sample rate of single-chip microcontroller is more than or equal to 500Hz.
The intelligent polishing system has with the ability of the power control dragging teaching of six-dimension force sensor feedback terminal.
The intelligence polishing system (radius of curvature is greater than 200mm) when small curvature is polished, passes through dragging teaching
Mode confines two-dimentional polishing region, passes through the phase of six-dimension force sensor Real-time Feedback grinding device and curved surface of polishing in bruting process
To pose and polishing power, is controlled by robot controller and realize the adjustment of grinding device pose, to complete to polish；
The intelligence polishing system (radius of curvature is less than or equal to 200mm) when deep camber is polished, confines two dimension and beats
After grinding region, the mode of polishing system slow analog is first passed through before formal sanding operation, scans three-dimensional polishing track, and with this
As the control feed-forward information in formal bruting process, the real-time force control information in conjunction with six-dimension force sensor is real for 3-D scanning track
Now fine sanding operation.
Cross track of completion in the bruting process is a polishing circulation, i.e., completes to cover entirely in one direction
Wheel all standing polishing is completed after one wheel polishing of lid again on its orthogonal direction as a polishing circulation.
The present invention has the following advantages and outstanding effects:
1, it present invention can be implemented in flexibility polishing work, do not need off-line programing, need vision system and three-dimensional is swept
It retouches system etc. and realizes flexible polishing working site total curvature covering by way of real-time force control, it is easy to operate, it is easy to maintain.
2, control of the invention is the single-chip microcontroller inside the controller and six-dimension force sensor carried based on robot, is beaten
The human-computer interaction interface of grinding system is integrated on the included teaching machine of robot, simplifies control system, and improve system can
By property and real-time.
Detailed description of the invention
Fig. 1 is the schematic diagram of the robot flexibility intelligence polishing system based on six-dimension force sensor.
Fig. 2-1 is the robot flexibility intelligence polishing system software module flow chart (1) based on six-dimension force sensor
Fig. 2-2 is the robot flexibility intelligence polishing system software module flow chart (2) based on six-dimension force sensor
Fig. 2-3 is the robot flexibility intelligence polishing system software module flow chart (3) based on six-dimension force sensor
Specific embodiment
Following further describes the present invention with reference to the drawings:
Fig. 1 each section is described as follows:
1, teaching machine 2, robot controller 3, robot body 4, six-dimension force sensor 5, polishing and grinding apparatus 6, beaten
Grinder part
As shown in Figure 1, the robot flexibility intelligence polishing system based on six-dimension force sensor includes teaching machine 1, robot
Controller 2, six-dimension force sensor 4, polishing and grinding apparatus 5, is polished workpiece 6 etc. at robot body 3.The six-dimension force sensor 4 is pacified
It is connect mounted in 3 end of robot body, polishing and grinding apparatus 5 with 4 other end of six-dimension force sensor.
The robot body 3 is cooperation robot or industrial robot, the robot controller 2 and robot
3 electrical connections, the teaching machine 1 are electrically connected with robot controller 2；The robot controller 2 is that the robot 3 is mating
Controller, the teaching machine 1 be the matched teaching machine of robot 3.
As shown in Fig. 2, intelligent polishing system also includes real-time force information acquisition module, polishing path planning and real-time force control
Program module, human-computer interaction module.Polishing force information is acquired in real time, is converted by the real-time force signal acquisition module
And it is transmitted in polishing path planning and real-time force control program module, the polishing path planning and real-time force control program module
To being planned for the force signal information that receives polishing path, carry out control to robot pose to complete polishing behaviour
Make, the human-computer interaction module provides human-computer interaction interface and the information for needing operator to set is transmitted to polishing path
Planning in real-time force control program module.Wherein real-time force information acquisition module include front end signal processing, AD conversion module,
The submodules such as six-dimensional force information acquisition module；Polishing path planning and real-time force control program module include gravity compensation module, drag
The submodules such as dynamic teaching module, two-dimentional boundary recognition module, polishing TRAJECTORY CONTROL module, pose coordinate transformation module；Man-machine friendship
Mutual module includes polishing system human-computer interaction interface, human-computer interaction program etc..
In path planning and the real-time force control program module of polishing, gravity compensation module is for accurately compensating 5 weight of polishing and grinding apparatus
Power influences；Dragging teaching module is to drag force information control machine by perceiving the artificial teaching of robot end's six-dimension force sensor
The software module that device people is mobile to target direction, records and reappears posture information；Two-dimentional boundary recognition module is to identify and integrate
Operator drags the module for the two-dimentional power polishing region boundary information that robot end confines out；TRAJECTORY CONTROL module of polishing
Effect is to guarantee constant in polishing workpiece surface normal direction polishing power, and bruting process real-time control polishing and grinding apparatus is perpendicular to beating
Grind workpiece surface.The effect of pose coordinate transformation module is the workpiece coordinate system information solution that TRAJECTORY CONTROL module calculates that will polish
It calculates in robot coordinate system.
As shown in Fig. 2-1, real-time force information acquisition module is integrated in inside six-dimension force sensor 4 in the form of single-chip microcontroller,
Polishing path planning and real-time force control program module are embedded in the form of software in 2 internal processes of robot controller, man-machine friendship
Mutual module is embedded in the form of software in the teaching machine 1 of robot.
As shown in Fig. 2-2, real-time force information acquisition module is integrated in inside six-dimension force sensor 4 in the form of single-chip microcontroller,
Polishing path planning and real-time force control program module are embedded in the internal processes of the single-chip microcontroller of six-dimension force sensor 4 in the form of software
In, human-computer interaction module is embedded in the form of software in the teaching machine 1 of robot.This mode has high integrated level, right
The process variations of itself are seldom in robot controller.
The robot body 3 is cooperation robot or industrial robot, and robot controller 2 is that the robot is mating
Controller, the polishing path planning and real-time force control program module of flexible intelligent polishing system be embedded into robot controller 2
In or be embedded into the single-chip microcontroller of six-dimension force sensor 4, be all effectively reduced the level of control system, improve system
Reliability, safety and real-time.The man-machine interface of flexible intelligent polishing system is integrated on the included teaching machine of robot.Behaviour
Make personnel only to need that sanding operation can be completed by the progress parameter setting of teaching machine 1 and interaction, to reduce manipulation original part
Redundancy, reduce the operation difficulty of operator.
As Figure 2-3, polishing path planning and real-time force control program module can also be embedded in host computer in the form of software
Internal processes in, communication is carried out by host computer and robot controller and realizes polishing path planning and real-time force control program
Interaction, to realize the polishing work of robot.
The microcontroller communication mode that the six-dimension force sensor 4 is internally integrated supports RS422, Ethercat, Ethernet.
These three communication modes can cover most of robot controller communication modes, can meet most robot application need
It asks；The sample rate of single-chip microcontroller is more than or equal to 500Hz, meets robot real-time force control required precision.
The intelligent polishing system, which has, drags teaching ability with six-dimension force sensor 4 for the power control of feedback terminal.Tool
The polishing mode of body is as follows:
The intelligence polishing system (radius of curvature is greater than 200mm) when small curvature is polished, passes through dragging teaching
Mode confines two-dimentional polishing region, passes through 4 Real-time Feedback grinding device of six-dimension force sensor and curved surface of polishing in bruting process
Relative pose and polishing force information realize grinding device by the control program of robot controller 2 to robot controller 2
Pose adjustment, to complete to polish；
When curvature is larger, since curvature is excessive, pose during 6 surface of workpiece follows of bruting process polishing and grinding apparatus 5
Change too fast, can not match with the real-time of intelligent polishing system, directly carrying out polishing can exist due to following lag to cause
The unstable problem of polishing.Specific solution is: the intelligence polishing system (curvature half in deep camber polishing
Diameter is less than or equal to 200mm), after confining two-dimentional polishing region, polishing system slow analog is first passed through before formal sanding operation
Mode, speed are set in 5mm/s hereinafter, scanning three-dimensional polishing track, and using this 3-D scanning track as formal bruting process
In control feed-forward information may be implemented in this way in conjunction with the fine sanding operation of real-time force control information realization of six-dimension force sensor 4
The real-time control polished under the conditions of deep camber requires.
Two kinds of polishing modes combine the total curvature covering for being polished workpiece that the flexible polishing scene of industrialization can be achieved, and widen
The use scope of polishing system.
Completion in the bruting process once intersects polishing and recycles for polishing, that is, is confining one of polishing region
Complete wheel all standing polishing again on its orthogonal direction after completing a wheel polishing of all standing on direction as a polishing circulation.
Keep bruting process finer by intersecting polishing, reduces dead angle residual.
Claims (7)
1. a kind of robot flexibility intelligence polishing system based on six-dimension force sensor, including teaching machine, robot controller, machine
Device human body, six-dimension force sensor, polishing and grinding apparatus: the teaching machine is electrically connected with robot controller, the robot
Controller is electrically connected with robot, and the six-dimension force sensor is mounted on robot body end, and polishing and grinding apparatus and six-dimensional force pass
The connection of the sensor other end, the robot body is cooperation robot or industrial robot, the robot controller are
The matched controller of the robot, the teaching machine are the matched teaching machine of the robot；
The robot flexibility intelligence polishing system based on six-dimension force sensor, also comprising real-time force information acquisition module,
It polishes path planning and real-time force control program module, human-computer interaction module, the real-time force signal acquisition module will polish power
Information is acquired in real time, converts and is transmitted in polishing path planning and real-time force control program module, the polishing road
Diameter planning plans, to robot position polishing path to for the force signal information received with real-time force control program module
Appearance carries out control to complete sanding operation, and the human-computer interaction module provides human-computer interaction interface and will need operator
The information of setting be transmitted to polishing path planning in real-time force control program module.
2. the robot flexibility intelligence polishing system described in accordance with the claim 1 based on six-dimension force sensor, wherein real-time force
Information acquisition module includes front end signal processing, three AD conversion module, six-dimensional force information acquisition module submodules；Polishing path
Planning includes gravity compensation module, dragging teaching module, two-dimentional boundary recognition module, polishing track with real-time force control program module
Five control module, pose coordinate transformation module submodules；Human-computer interaction module includes polishing system human-computer interaction interface, man-machine
Two submodules of interactive program；
Wherein, in polishing path planning and real-time force control program module, gravity compensation module is for accurately compensating polishing and grinding apparatus weight
Power influences；Dragging teaching module is to drag force information control machine by perceiving the artificial teaching of robot end's six-dimension force sensor
The software module that device people is mobile to target direction, records and reappears posture information；Two-dimentional boundary recognition module is to identify and integrate
Operator drags the module for the two-dimentional power polishing region boundary information that robot end confines out；TRAJECTORY CONTROL module of polishing
Effect is to guarantee constant in polishing workpiece surface normal direction polishing power, and bruting process real-time control polishing and grinding apparatus is perpendicular to beating
Grind workpiece surface；The effect of pose coordinate transformation module is the workpiece coordinate system information solution that TRAJECTORY CONTROL module calculates that will polish
It calculates in robot coordinate system.
3. the robot flexibility intelligence polishing system based on six-dimension force sensor according to claim 2, wherein real-time force
Information acquisition module is integrated in inside six-dimension force sensor in the form of single-chip microcontroller, and human-computer interaction module is embedded in the form of software
In the teaching machine of robot；Polishing path planning and real-time force control program module are embedded in six-dimension force sensor in the form of software
In the internal processes of single-chip microcontroller, perhaps it is embedded in the form of software in the internal processes of robot controller or with software
Form is integrated in individual host computer.
4. the robot flexibility intelligence polishing system described in accordance with the claim 1 based on six-dimension force sensor, wherein six-dimensional force
The communication modes of the integrated single-chip microcontroller of sensor internal support RS422, Ethercat, Ethernet；The sample rate of single-chip microcontroller is big
In equal to 500Hz.
5. the robot flexibility intelligence polishing system described in accordance with the claim 1 based on six-dimension force sensor, wherein polishing
In operation process, when small curvature of the radius of curvature greater than 200mm is polished, two dimension is confined by way of dragging teaching and is beaten
Region is ground, passes through relative pose and the polishing of six-dimension force sensor Real-time Feedback grinding device and curved surface of polishing in bruting process
Power is controlled by robot controller and realizes the adjustment of grinding device pose, to complete to polish.
6. the robot flexibility intelligence polishing system described in accordance with the claim 1 based on six-dimension force sensor, wherein in curvature
In the case of deep camber polishing of the radius less than or equal to 200mm, after confining two-dimentional polishing region, first passed through before formal sanding operation
Polishing system scans three-dimensional polishing track in such a way that polishing and grinding apparatus movement velocity is less than or equal to 5mm/s low-speed motion, and with this three
Dimension scanning track is as the control feed-forward information in formal bruting process, in conjunction with the real-time force control information realization of six-dimension force sensor
Fine sanding operation.
7. the robot flexibility intelligence polishing system described in accordance with the claim 1 based on six-dimension force sensor, wherein polishing
Cross track of completion in the process is polishing circulation, i.e., complete in one direction all standing a wheel polish after
Wheel all standing polishing is completed on its orthogonal direction again as a polishing circulation.
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Cited By (17)
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|---|---|---|---|---|
| CN110539314A (en) * | 2019-10-08 | 2019-12-06 | 安徽新境界自动化技术有限公司 | automatic servo control system of robot of polishing |
| CN111673611A (en) * | 2020-05-26 | 2020-09-18 | 华中科技大学 | Elastic deformation and vibration suppression method for grinding and polishing of airplane composite component robot |
| CN112123344A (en) * | 2020-09-22 | 2020-12-25 | 佳奕筱安(上海)机器人科技有限公司 | Drag teaching method based on power-controlled robot polishing and implementation device thereof |
| CN112139860A (en) * | 2020-09-22 | 2020-12-29 | 佳奕筱安(上海)机器人科技有限公司 | Flexible track output method based on power-controlled robot polishing and implementation device thereof |
| CN112338689A (en) * | 2020-11-17 | 2021-02-09 | 安徽依迈金智能科技有限公司 | Control system of full-automatic polishing robot |
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| WO2021114855A1 (en) * | 2019-12-14 | 2021-06-17 | 上海航翼高新技术发展研究院有限公司 | Flexible automatic grinding device and grinding method for aircraft repairing composite material |
| CN113021082B (en) * | 2019-12-24 | 2022-06-07 | 沈阳智能机器人创新中心有限公司 | Robot casting polishing method based on teleoperation and panoramic vision |
| CN113021082A (en) * | 2019-12-24 | 2021-06-25 | 沈阳智能机器人创新中心有限公司 | Robot casting polishing method based on teleoperation and panoramic vision |
| CN111673611A (en) * | 2020-05-26 | 2020-09-18 | 华中科技大学 | Elastic deformation and vibration suppression method for grinding and polishing of airplane composite component robot |
| CN111673611B (en) * | 2020-05-26 | 2021-06-18 | 华中科技大学 | Elastic deformation and vibration suppression method for grinding and polishing of airplane composite component robot |
| CN112123344A (en) * | 2020-09-22 | 2020-12-25 | 佳奕筱安(上海)机器人科技有限公司 | Drag teaching method based on power-controlled robot polishing and implementation device thereof |
| CN112139860A (en) * | 2020-09-22 | 2020-12-29 | 佳奕筱安(上海)机器人科技有限公司 | Flexible track output method based on power-controlled robot polishing and implementation device thereof |
| CN114434436A (en) * | 2020-10-30 | 2022-05-06 | 西门子（中国）有限公司 | Method and device for controlling robot and computer readable storage medium |
| CN112338689A (en) * | 2020-11-17 | 2021-02-09 | 安徽依迈金智能科技有限公司 | Control system of full-automatic polishing robot |
| CN112659139A (en) * | 2020-12-08 | 2021-04-16 | 蓝点触控(北京)科技有限公司 | Robot polishing method, robot polishing device and robot polishing system |
| CN112659139B (en) * | 2020-12-08 | 2024-05-17 | 蓝点触控(北京)科技有限公司 | Robot polishing method, robot polishing device and robot polishing system |
| CN113001570A (en) * | 2021-02-08 | 2021-06-22 | 佛山华数机器人有限公司 | Intelligent robot scientific research and practical training platform |
| CN113649946A (en) * | 2021-08-06 | 2021-11-16 | 重庆智能机器人研究院 | Active force position compensator and control method thereof |
| CN114083420A (en) * | 2021-11-10 | 2022-02-25 | 中国航发北京航空材料研究院 | Intelligent robot polishing system for complex curved surface transparent part |
| CN114260815A (en) * | 2021-12-31 | 2022-04-01 | 华侨大学 | Robot-based advanced line glass substrate polishing system and polishing method thereof |
| CN114770565A (en) * | 2022-02-15 | 2022-07-22 | 中国航空工业集团公司北京长城航空测控技术研究所 | Trimming type intelligent normal regulation and control system for composite material component |
| CN114454060A (en) * | 2022-02-23 | 2022-05-10 | 无锡中车时代智能装备有限公司 | Robot self-adaptive curved surface tracking constant-force grinding and polishing method and system |
| CN115256089A (en) * | 2022-06-28 | 2022-11-01 | 河北光兴半导体技术有限公司 | Device and method for realizing fine grinding and polishing through torque control |
| CN116160300A (en) * | 2023-03-03 | 2023-05-26 | 东北大学 | Control method for grinding and polishing process of cooperative robot |
| CN116160300B (en) * | 2023-03-03 | 2024-04-16 | 东北大学 | Control method for grinding and polishing process of cooperative robot |
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