CN110549332A - stepping control method and device, polishing robot and readable storage medium - Google Patents
stepping control method and device, polishing robot and readable storage medium Download PDFInfo
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- CN110549332A CN110549332A CN201910710011.1A CN201910710011A CN110549332A CN 110549332 A CN110549332 A CN 110549332A CN 201910710011 A CN201910710011 A CN 201910710011A CN 110549332 A CN110549332 A CN 110549332A
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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
- B25J11/0065—Polishing or grinding
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
the invention relates to the technical field of robot automatic grinding, and provides a robot grinding arm stepping control method, a robot grinding arm stepping control device, a grinding robot and a computer readable storage medium, wherein the method comprises the following steps: the method comprises the steps of positioning preset pose information of the current moment in a polishing track, driving a robot polishing arm with a polishing blade to feed the polishing blade to a current pre-polishing point according to the preset pose information of the current moment, obtaining a circumferential force value and an axial force value of the polishing blade at the current pre-polishing point, driving the robot polishing arm to feed the polishing blade to the current deviation-rectifying polishing point from the current pre-polishing point according to the circumferential force value and the axial force value of the current pre-polishing point, and improving the capabilities of dynamically adjusting the feeding speed and the dynamic deviation-rectifying polishing position of the robot polishing arm in the polishing process, so that the uniform, accurate and efficient polishing capability of the robot polishing arm is improved.
Description
Technical Field
The invention relates to the technical field of automatic grinding of robots, in particular to a stepping control method and device, a grinding robot and a readable storage medium.
Background
The polishing robot comprises a robot chassis and a robot polishing arm arranged on the robot chassis, the tail end of the robot polishing arm is provided with a polishing tool, the polishing tool enables the robot polishing arm to have a polishing function, a workpiece is automatically polished through the robot polishing arm, the polishing efficiency of the workpiece is greatly improved, manpower and material resources are saved, and the polishing tool can comprise an angle grinder, a polishing machine and the like.
In the process of polishing workpieces by the robot polishing arm, the robot polishing arm is driven at a constant speed along a polishing track to feed polishing tools to the surface of the workpieces, so that the polishing tools polish the workpieces along the polishing track, the polishing track can be used for calibrating the positions of all polishing points on the surface of the workpieces and cannot be used for the uniformity of all polishing points on the surface of the workpieces, more polishing points are often unevenly distributed on the surface of the workpieces, and the polishing precision of the robot polishing arm along the polishing track can be restricted.
disclosure of Invention
The invention aims to solve the technical problem that the polishing precision of a robot polishing arm is restricted by a mode of driving the robot polishing arm along a polishing track at a constant speed in the prior art, and provides a step control method, a step control device, a polishing robot and a readable storage medium.
the technical scheme for solving the technical problems is as follows:
according to a first aspect of the present invention there is provided a method of step control for a robotic grinding arm comprising:
Positioning preset pose information of the current moment in the polishing track;
Driving a robot polishing arm with a polishing blade to feed the polishing blade to a current pre-polishing point according to the preset pose information;
Acquiring a circumferential force value and an axial force value of the polishing blade at the current pre-polishing point;
Driving the robot grinding arm to feed the grinding blade from the current pre-grinding point to a current deviation-correcting grinding point in a variable speed mode according to the circumferential force value and the axial force value;
The preset pose information is used for calibrating the pose of the current pre-polishing point in a robot coordinate system, the circumferential force value is used for calibrating the circumferential force parallel to the polishing blade, and the axial force value is used for calibrating the axial force perpendicular to the polishing blade.
According to a second aspect of the present invention there is provided a robotic arm stepping control apparatus comprising: the device comprises a track positioning module, a stepping driving module and a force value acquisition module;
the track positioning module is used for positioning preset pose information at the current moment in the polishing track;
The stepping driving module is used for driving a robot polishing arm with a polishing blade to feed the polishing blade to a current pre-polishing point according to the preset pose information;
The force value acquisition module is used for acquiring a circumferential force value and an axial force value of the polishing blade at the current pre-polishing point;
the stepping driving module is also used for driving the robot grinding arm to feed the grinding blade from the current pre-grinding point to the current deviation-correcting grinding point in a variable speed manner according to the circumferential force value and the axial force value;
the preset pose information is used for calibrating the pose of the current pre-polishing point in a robot coordinate system, the circumferential force value is used for calibrating the circumferential force parallel to the polishing blade, and the axial force value is used for calibrating the axial force perpendicular to the polishing blade.
According to a third aspect of the present invention, there is provided a grinding robot comprising: the robot polishing device comprises a controller, and an encoder and a robot polishing arm which are respectively in communication connection with the controller;
The encoder is used for positioning preset pose information of the current moment in the polishing track;
The controller is used for driving the robot polishing arm with the polishing blade to feed the polishing blade to a current pre-polishing point according to the preset pose information; acquiring a circumferential force value and an axial force value of the polishing blade at the current pre-polishing point; and driving the robot grinding arm to feed the grinding blade from the current pre-grinding point to the current deviation-rectifying grinding point according to the circumferential force value and the axial force value in a variable speed mode.
according to a fourth aspect of the present invention, there is provided a computer-readable storage medium comprising: a memory storing a polishing control program and capable of communicating with a polishing robot, wherein the polishing control program when executed by the polishing robot implements the robot polishing arm step control method of the first aspect.
the robot polishing arm stepping control method, the robot polishing arm stepping control device, the polishing robot and the computer readable storage medium have the advantages that: in the arm in-process of polishing at step-by-step control robot, polish the arm according to the position appearance information drive robot that predetermines that the present moment was fixed a position in the orbit of polishing and polish the arm and will polish the blade and feed to the current point of polishing in advance, compare in the traditional mode along the orbit constant speed drive robot arm of polishing, the arm of polishing of robot that has the blade of polishing according to the circumference power value that corresponds at the present moment and axial power value self-adaptation variable speed drive changes the gesture, make the automatic variable speed of the blade of polishing polish the point of rectifying a deviation, can promote the robot arm of polishing at the ability of the in-process dynamic adjustment feed rate of polishing and dynamic rectifying a deviation position of polishing, thereby, help.
Drawings
Fig. 1 is a schematic flow chart of a step control method for a robot polishing arm according to an embodiment of the present invention;
Fig. 2 is a schematic flow chart of another robot grinding arm step control method according to an embodiment of the present invention;
Fig. 3a is a schematic structural diagram of a stepping control device of a robot polishing arm according to an embodiment of the present invention;
Fig. 3b is a schematic structural diagram of a step control device of a robot polishing arm according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a polishing robot according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a communication connection corresponding to the sanding robot of fig. 4.
Detailed Description
the principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Implementation mode one
As shown in fig. 1, a step control method for a robot grinding arm comprises the following steps:
Step 1, positioning preset pose information at the current moment in a polishing track;
step 2, driving a robot polishing arm with a polishing blade to feed the polishing blade to a current pre-polishing point according to preset pose information at the current moment;
step 3, obtaining a circumferential force value and an axial force value of the polishing blade at the current pre-polishing point;
And 4, driving the robot grinding arm to feed the grinding blade from the current pre-grinding point to the current deviation-rectifying grinding point in a variable speed mode according to the circumferential force value and the axial force value of the current pre-grinding point.
before step 1, a grinding track is stored in advance, and the grinding track can be established in a mode of: acquiring three-dimensional data of a workpiece to be polished in a workpiece coordinate system w, and constructing a three-dimensional model of the workpiece based on the three-dimensional data, for example: the three-dimensional data comprises point cloud data; analyzing the three-dimensional model of the workpiece through CAM software to obtain an NC file, analyzing the NC file to obtain pose information of a plurality of grinding points in a workpiece coordinate system, and setting the pose information of all the grinding points in the workpiece coordinate system w as a first alignment pose matrix; a homogeneous conversion matrix from a workpiece coordinate system w to a robot coordinate system b is established through a hand-eye calibration algorithm, a first homogeneous pose matrix in the workpiece coordinate system w is converted into a second homogeneous pose matrix in the robot coordinate system b through the homogeneous conversion matrix, a polishing track is represented by the second homogeneous pose matrix, and pose information of a polishing point in the workpiece coordinate system w can be quickly converted into the robot coordinate system b from the workpiece coordinate system w through the homogeneous conversion matrix.
let the pose information of each polishing point in the workpiece coordinate system w be p and the first alignment pose matrix bewHpa homogeneous conversion matrix ofbHwAnd a second homogeneous pose matrix ofbHp，bHp＝bHw·wHp，bHpAny row vector or any column vector in the pre-polishing point can represent preset pose information at the current moment, and the preset pose information at the current moment is used for calibrating the pose of the current pre-polishing point in a robot coordinate system.
exemplarily, the preset pose information at the current time is represented by a row vector as follows:
Wherein the content of the first and second substances,Respectively represent the position information of the current grinding point in the robot coordinate system,indicating the orientation information of the current sanding point in the robot coordinate system.
The step 3 specifically comprises the following steps: detecting six-dimensional force information of the grinding blade at the current pre-grinding point, and extracting force values on three dimensions along a robot coordinate system b from the six-dimensional force information; let the force values in three dimensions along the robot coordinate system b be F respectivelyx、Fyand FzBased on the resultant force calculation model, the force aligning value FxAnd Fysolving to obtain the current time tmto what is providedcorresponding circumferential force value Fxy_in(tm) And apply a force value FzIs set to represent the current time tmCorresponding axial force value Fz_in(tm) Wherein the circumferential force value Fxy_in(tm) For calibrating circumferential force parallel to the blade being polished, axial force value Fz_in(tm) The axial force perpendicular to the grinding blade is calibrated.
Step 1-4 describes the process of executing the step control robot polishing arm by the polishing control program, step 1-2 describes the process of executing the polishing control program to drive the robot polishing arm to feed the polishing blade to the current pre-polishing point, and compared with the traditional mode of driving the robot polishing arm at a constant speed along the polishing track, step 3-4 describes the process of executing the polishing control program to adaptively drive the robot polishing arm to change the pose according to the circumferential force value and the axial force value corresponding to the current moment so as to realize the automatic speed change and rectification polishing point polishing of the polishing blade, so that the capability of dynamically adjusting the feeding speed and the dynamic rectification polishing position of the robot polishing arm in the polishing process is improved, and the uniform, accurate and efficient polishing capability of the robot polishing arm is improved.
Second embodiment
Another method for controlling the step of a robotic grinding arm is shown in fig. 2, comprising the steps of:
Step 1, positioning preset pose information at the current moment in a polishing track;
Step 2, driving a robot polishing arm with a polishing blade to feed the polishing blade to a current pre-polishing point according to preset pose information at the current moment;
Step 3, obtaining a circumferential force value and an axial force value of the polishing blade at the current pre-polishing point;
Step 4, driving a robot grinding arm in a variable speed mode according to a circumferential force value and an axial force value at the current pre-grinding point to feed the grinding blade from the current pre-grinding point to the current deviation-correcting grinding point;
And 5, judging whether the sequence position of the preset pose information at the current moment in the grinding track is the last position, if not, returning to the step 1, continuing to execute the step control flow of the robot grinding arm in the steps 1-5, and if so, ending the step control flow of the robot grinding arm in the steps 1-5.
Exemplarily, the preset pose information at the current moment is represented by a second homogeneous pose matrixbHpthe number of rows or columns in (1) is set as an order bit; if the sequence position is less than the second homogeneous position matrix ofbHpIf the sequence is not the last sequence, the sequence is used as the condition for continuously controlling the polishing arm of the robot in a stepping mode, so that the completeness and the continuity of the polishing progress of the polishing arm of the robot can be guaranteed; if the sequence is equal to the second homogeneous pose matrix ofbHpThe sequence position is judged to be the last position according to the total row number, the condition that the sequence position is the last position and is used as the condition for finishing stepping control of the polishing arm of the robot is adopted, the polishing progress of the polishing arm of the robot can be stopped timely, energy consumption is saved, and mistaken polishing of the polishing arm of the robot is effectively avoided.
third embodiment
The step 4 specifically comprises the following steps:
step 41, generating a current speed change instruction according to the circumferential force value at the current pre-polishing point;
Step 42, correcting the preset pose information at the current moment into the current correction pose information of the current correction polishing point in the robot coordinate system according to the axial force value at the current pre-polishing point;
And 43, driving the robot polishing arm to feed the polishing blade from the current pre-polishing point to the current deviation-rectifying polishing point in a variable speed mode according to the current speed-changing instruction and the current deviation-rectifying pose information.
in particular, the current gear change command may include an acceleration command to accelerate the drive of the robotic sanding arm or an acceleration command to accelerate the drive of the robotic sanding arm.
Step 43 specifically includes: the robot polishing arm is driven to change the pose in an accelerating mode according to the accelerating instruction, or the robot polishing arm is driven to change the pose in a decelerating mode according to the decelerating instruction, and the robot polishing arm can be driven in a self-adaptive speed changing mode simply and efficiently; the robot polishing arm is driven according to the current deviation rectifying pose information to feed the polishing blade to the current deviation rectifying polishing point, and the polishing position where the polishing blade is located can be automatically rectified simply and efficiently.
Embodiment IV
Step 41 specifically comprises the following steps:
step 411, filtering the circumferential force value at the current pre-polishing point to be a first current filtering force value based on a low-pass filtering model;
Step 412, calculating a first current force difference value between the first current filtering force value and the first reference force value;
step 413, calculating the first current force difference value based on the incremental PID control model to obtain a current speed change parameter;
And 414, generating a current speed change instruction according to the first current force difference value and the current speed change parameter.
the first current filtering force value is represented in a first order low pass filtering model as:
Fxy_out(tm)＝λ×Fxy_out(tm-1)+(1-λ)×Fxy_in(tm)
Wherein, Fxy_out(tm) Indicates the current time tmcorresponding first current filtering force value, Fxy_out(tm-1) Indicates the historical time tm-1Corresponding first historical filtering force value, Fxy_in(tm) Indicates the current time tmThe corresponding circumferential force value, λ, represents a weighting factor.
circumferential force value Fxy_in(tm) The resultant force calculation model is expressed as:
the first current force difference is expressed in a difference calculation model as: Δ Fxy(tm)＝Fxy_out(tm)-Fxy_rwherein, Δ Fxy(tm) Indicates the current time tmCorresponding first current force difference, Fxy_rrepresenting a first reference force value.
The current gear shift parameters are expressed as an incremental PID control model:
Wherein, V (t)m) Indicates the current time tmcorresponding current gear shift parameter, kp1denotes a first scale factor, ki1Denotes the first integral coefficient, kd1Representing the first differential coefficient, dtmIndicates the current time tmIncrement of (a) Fxy(tm)/dtmrepresenting a first current force difference Δ Fxy(tm) For the current time tmAnd (5) deriving the differential quotient.
Step 42 specifically comprises the following steps:
Step 421, filtering the axial force value at the current pre-polishing point to be a second current filtering force value based on the low-pass filtering model;
Step 422, calculating a second current force difference value between the second current filtering force value and the second reference force value;
step 423, calculating a second current force difference value based on the incremental PID control model to obtain a current deviation correction parameter;
And 424, correcting the preset pose information at the current moment into the current correction pose information according to the second current force difference value and the current correction parameter.
The second current filtering force value is represented in a first order low pass filtering model as:
Fz_out(tm)＝λ×Fz_out(tm-1)+(1-λ)×Fz_in(tm)
wherein, Fz_out(tm) Indicates the current time tmcorresponding second current filtering force value, Fz_out(tm-1) Indicates the historical time tm-1Corresponding second historical filtering force value, Fz_in(tm) Indicates the current time tmThe corresponding axial force value, λ, represents a weighting factor.
the first current force difference is expressed in a difference calculation model as: Δ Fz(tm)＝Fz_out(tm)-Fz_rWherein, Δ Fz(tm) Indicates the current time tmcorresponding second current force difference, Fz_rindicating a second reference force value.
The current deviation correction parameters are expressed by an incremental PID control model as follows:
Wherein, D (t)m) Indicates the current time tmCorresponding current deviation correction parameter, kp2Denotes a second scaling factor, ki2Representing the second integral coefficient, kd2Representing a second differential coefficient, Δ Fz(tm)/dtmRepresenting the second current force difference Δ Fz(tm) For the current time tmAnd (5) deriving the differential quotient.
The arm of polishing of robot vibrates and bumps with the work piece at the in-process of polishing, makes circumference power value and axial force value take place great error, can filter circumference power value and axial force value through the low pass filter model, can reduce the error of these two power values, improves the precision of these two power values.
the first reference force value and the second reference force value can be acquired by adopting a machine learning model training sample set or experience values acquired through a large number of tests respectively, the first reference force value is used for indicating the uniformity of the circumferential force, the second reference force value is used for indicating the uniformity of the axial force, the first current force difference value can be used for calibrating the deviation amount of the circumferential force at the current point to be polished, the second current force difference value can be used for calibrating the deviation amount of the circumferential force at the current point to be polished, the current speed change parameters can be accurately measured through the incremental PID control model and the first current force difference value, and the current deviation correction parameters can be accurately measured through the incremental PID control model and the second current force difference value.
Fifth embodiment
step 414 specifically includes: when the first current force difference exceeds a first preset threshold value, generating a current speed change instruction for driving the polishing arm of the robot in a speed reduction mode according to the current speed change parameters, wherein the current speed change instruction is a speed reduction instruction; and when the first current force difference value does not exceed a first preset threshold value, generating a current speed change instruction for accelerating and driving the grinding arm of the robot according to the current speed change parameter, wherein the current speed change instruction is an acceleration instruction.
Under the condition that the first current force difference exceeds a first preset threshold value, the circumferential force of the polishing blade at the current to-be-polished point is larger, the robot polishing arm can be driven to change the pose in a speed reduction manner through a speed reduction instruction, so that the feeding speed of the polishing blade is reduced, the polishing blade is not only beneficial to uniformly polishing a thicker polishing position, but also beneficial to performing force protection on the polishing blade; under the condition that the first current force difference value does not exceed a first preset threshold value, the circumferential force of the polishing blade at the current to-be-polished point is small, at the moment, the robot polishing arm can be driven to change the position and posture in an acceleration mode through an acceleration instruction, so that the feeding speed of the polishing blade is increased, and the polishing time of the polishing blade at the thinner polishing position is shortened.
Step 424 specifically includes: when the second current force difference exceeds a second preset threshold value, the preset pose information is adjusted to be larger according to the current deviation rectifying parameters to obtain current deviation rectifying pose information; and when the second current force difference value does not exceed a second preset threshold value, reducing the preset pose information according to the current deviation rectifying parameters to obtain the current deviation rectifying pose information.
Exemplarily, the one-dimensional coordinate along the dimension perpendicular to the sanding blade in the robot coordinate system is located in the preset pose informationcalculating one-dimensional coordinatesthe sum value of the current speed change parameter is used for replacing the one-dimensional coordinate with the preset pose informationThe preset pose information is enlarged; calculating one-dimensional coordinatesdifference from current shift parameters toReplacing one-dimensional coordinates in preset pose information by difference values of current speed change parametersAnd reducing the preset pose information.
Under the condition that the second current force difference exceeds a second preset threshold value, the axial force of the polishing blade at the current to-be-polished point is larger, the robot polisher can be driven to deviate along the direction of the axial force applied to the current to-be-polished point by the polishing blade through the current deviation rectifying pose information, the axial force in the deviation rectifying process of the polishing blade can be reduced, and the polishing blade is protected by force in the deviation rectifying process; under the condition that the second current force difference value does not exceed a second preset threshold value, the axial force of the polishing blade at the current to-be-polished point is small, the robot polisher can be driven to deviate along the direction opposite to the axial force through the current deviation correcting pose information, the axial force in the deviation correcting process of the polishing blade can be increased, and the uniform polishing capacity of the polishing arm of the robot can be improved.
Exemplarily, the first preset threshold and the second preset threshold may be respectively set in a range not exceeding 0.5, for example: the first preset threshold is 0 and the second preset threshold is 0; or, the first preset threshold is 0 and the second preset threshold is 0.3; alternatively, the first preset threshold is 0.5 and the second preset threshold is 0.
Sixth embodiment
as shown in fig. 3a, an embodiment of the present invention provides a robot arm stepping control apparatus, including: the device comprises a track positioning module, a stepping driving module and a force value acquisition module; the track positioning module is used for positioning preset pose information at the current moment in the polishing track; the step driving module is used for driving a robot polishing arm with a polishing blade to feed the polishing blade to a current pre-polishing point according to preset pose information; the force value acquisition module is used for acquiring a circumferential force value and an axial force value of the polishing blade at the current pre-polishing point; and the stepping driving module is also used for driving the robot polishing arm to feed the polishing blade from the current pre-polishing point to the current deviation-rectifying polishing point according to the circumferential force value and the axial force value in a variable speed mode.
The step driving module specifically comprises: the system comprises an instruction generation submodule, a pose deviation rectifying submodule and a variable speed driving submodule; the command generation submodule is used for generating a current speed change command according to the circumferential force value; the pose deviation rectifying sub-module is used for rectifying the preset pose information into the current deviation rectifying pose information of the current deviation rectifying grinding point in the robot coordinate system according to the axial force value; and the variable speed driving submodule is used for driving the robot polishing arm to feed the polishing blade from the current pre-polishing point to the current deviation-rectifying polishing point in a variable speed mode according to the current variable speed instruction and the current deviation-rectifying pose information.
the instruction generation submodule is specifically configured to: filtering the circumferential force value into a first current filtering force value based on a low-pass filtering model; calculating a first current force difference value of the first current filtering force value and the first reference force value; calculating the first current force difference value based on the incremental PID control model to obtain a current speed change parameter; and generating a current speed change instruction according to the first current force difference value and the current speed change parameter.
the pose deviation rectifying submodule is specifically used for: filtering the axial force value into a second current filtering force value based on the low-pass filtering model; calculating a second current force difference value of the second current filtering force value and the second reference force value; calculating the second current force difference value based on the incremental PID control model to obtain a current deviation correction parameter; and correcting the preset pose information into the current correction pose information according to the second current force difference value and the current correction parameter.
the variable speed drive submodule is specifically configured to: under the condition that the current speed change instruction is an acceleration instruction, accelerating and driving a robot polishing arm to feed a polishing blade to a current deviation-rectifying polishing point according to the acceleration instruction and the current deviation-rectifying pose information; and under the condition that the current speed change instruction is a speed reduction instruction, the robot polishing arm is driven to decelerate according to the speed reduction instruction and the current deviation rectifying pose information so as to feed the polishing blade to the current deviation rectifying polishing point.
As shown in fig. 3b, another robot grinding arm stepping control apparatus provided in the embodiment of the present invention further includes a sequence determination module; and the sequence judgment module is used for judging whether the sequence of the preset pose information in the polishing track is the last sequence, if not, continuing to call the track positioning module, the stepping driving module and the force value acquisition module, and if so, finishing calling the track positioning module, the stepping driving module and the force value acquisition module.
Seventh embodiment
As shown in fig. 4 to 5, an embodiment of the present invention provides a polishing robot, including: robot chassis 1 with install the robot arm of polishing on robot chassis 1, at the inside controller and the encoder that is equipped with of robot chassis 1, the encoder passes through controller and robot arm communication connection that polishes, for example: the controller is respectively connected with the encoder and the robot polishing arm through cables.
the robot grinding arm comprises a mechanical arm 2, a multi-dimensional force sensor 3, a clamp 4 and a grinding machine 5 with a grinding blade 51, wherein the multi-dimensional force sensor 3 is installed on a tail end joint of the mechanical arm 2, the clamp 4 is installed on the multi-dimensional force sensor 3, the grinding machine 5 is installed on the clamp 4, the multi-dimensional force sensor 3 and the mechanical arm 2 are respectively and electrically connected with a controller, and for example, the multi-dimensional force sensor 3 is a six-dimensional force sensor.
And the encoder is used for positioning the preset pose information of the current moment in the grinding track.
and the multi-dimensional force sensor is used for detecting multi-dimensional force information of the blade to be polished at the current pre-polishing point and inputting the multi-dimensional force information to the controller.
The controller is used for receiving multi-dimensional force information input by the multi-dimensional force sensor; acquiring a circumferential force value and an axial force value of the polished blade at the current pre-polishing point based on the multi-dimensional force information; driving a robot polishing arm with a polishing blade to feed the polishing blade to a current pre-polishing point according to preset pose information; and driving the robot grinding arm to feed the grinding blade from the current pre-grinding point to the current deviation-rectifying grinding point according to the circumferential force value and the axial force value in a variable speed mode.
Embodiment eight
An embodiment of the present invention provides a computer-readable storage medium, which may be configured to communicate with an abrading robot and store at least one instruction or at least one abrading control program or code set or instruction set, where the instruction or the abrading control program or the code set or the instruction set is loaded and executed by the abrading robot to implement the operation steps executed in the robot abrading arm stepping control method according to any one of the first to fifth embodiments.
It will be understood by those skilled in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by instructions of the related hardware via a grinding control program, where the grinding control program may be stored in a computer readable storage medium, and the computer readable storage medium may be a removable hard disk, a flash disk, an optical disk, a central processing unit, a PC computer, or the like.
The reader should understand that in the description of this specification, reference to the description of the terms "aspect," "embodiment," or "exemplary" or the like, means that a particular feature, step, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and the terms "first" and "second," or the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second", etc., may explicitly or implicitly include at least one of the feature.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A robot grinding arm stepping control method is characterized by comprising the following steps:
Positioning preset pose information of the current moment in the polishing track;
Driving a robot polishing arm with a polishing blade to feed the polishing blade to a current pre-polishing point according to the preset pose information;
Acquiring a circumferential force value and an axial force value of the polishing blade at the current pre-polishing point;
driving the robot grinding arm to feed the grinding blade from the current pre-grinding point to a current deviation-correcting grinding point in a variable speed mode according to the circumferential force value and the axial force value;
The preset pose information is used for calibrating the pose of the current pre-polishing point in a robot coordinate system, the circumferential force value is used for calibrating the circumferential force parallel to the polishing blade, and the axial force value is used for calibrating the axial force perpendicular to the polishing blade.
2. The method of step control for a robotic sharpening arm as claimed in claim 1, wherein variably driving the robotic sharpening arm to feed the sharpening blade from the current pre-sharpening point to a current corrective sharpening point based on the circumferential and axial force values comprises:
Generating a current speed change instruction according to the circumferential force value;
correcting the preset pose information into the current correction pose information of the current correction polishing point in the robot coordinate system according to the axial force value;
and driving the robot grinding arm to feed the grinding blade from the current pre-grinding point to the current deviation rectification grinding point in a speed change mode according to the current speed change instruction and the current deviation rectification pose information.
3. the method of claim 2, wherein generating a current gear shift command based on the circumferential force value comprises:
Filtering the circumferential force value into a first current filtering force value based on a low-pass filtering model;
Calculating a first current force difference value of the first current filtering force value and a first reference force value;
calculating the first current force difference value based on an incremental PID control model to obtain a current speed change parameter;
And generating the current speed change instruction according to the first current force difference value and the current speed change parameter.
4. The method according to claim 3, wherein generating the current gear shift command according to the first current force difference and the current gear shift parameter comprises:
When the first current force difference exceeds a first preset threshold value, generating the current speed change instruction for driving the robot polishing arm in a speed reduction mode according to the current speed change parameters;
and when the first current force difference value does not exceed the first preset threshold value, generating the current speed change instruction for accelerating and driving the robot polishing arm according to the current speed change parameter.
5. The method for step control of a robot arm according to any one of claims 2-4, wherein de-skewing the pre-determined pose information to the current de-skewed pose information of the current de-skewed grinding point in the robot coordinate system based on the axial force value comprises:
Filtering the axial force value into a second current filtering force value based on a low-pass filtering model;
calculating a second current force difference value of the second current filtering force value and a second reference force value;
Calculating the second current force difference value based on an incremental PID control model to obtain a current deviation correction parameter;
And correcting the preset pose information into the current correction pose information according to the second current force difference value and the current correction parameter.
6. The method of step control of a robotic polishing arm of claim 5, wherein de-skewing the preset pose information to the current de-skewing pose information according to the second current force difference and the current de-skewing parameter, comprises:
when the second current force difference exceeds a second preset threshold value, the preset pose information is adjusted to be larger according to the current deviation rectifying parameters to obtain the current deviation rectifying pose information;
And when the second current force difference value does not exceed the second preset threshold value, reducing the preset pose information according to the current deviation rectifying parameters to obtain the current deviation rectifying pose information.
7. The robotic sharpening arm step control method of any of claims 1-4, further comprising, after driving the robotic sharpening arm at a variable speed according to the circumferential and axial force values to feed the sharpening blade from the current pre-sharpening point to a current de-skew sharpening point:
And judging whether the sequence position of the preset pose information in the grinding track is the last position, if not, continuing the step control flow of the robot grinding arm, and if so, ending the step control flow of the robot grinding arm.
8. The utility model provides a robot arm step control device that polishes which characterized in that includes: the device comprises a track positioning module, a stepping driving module and a force value acquisition module;
the track positioning module is used for positioning preset pose information at the current moment in the polishing track;
the stepping driving module is used for driving a robot polishing arm with a polishing blade to feed the polishing blade to a current pre-polishing point according to the preset pose information;
The force value acquisition module is used for acquiring a circumferential force value and an axial force value of the polishing blade at the current pre-polishing point;
the stepping driving module is also used for driving the robot grinding arm to feed the grinding blade from the current pre-grinding point to the current deviation-correcting grinding point in a variable speed manner according to the circumferential force value and the axial force value;
The preset pose information is used for calibrating the pose of the current pre-polishing point in a robot coordinate system, the circumferential force value is used for calibrating the circumferential force parallel to the polishing blade, and the axial force value is used for calibrating the axial force perpendicular to the polishing blade.
9. A grinding robot, comprising: the robot polishing device comprises a controller, and an encoder and a robot polishing arm which are respectively in communication connection with the controller;
The encoder is used for positioning preset pose information of the current moment in the polishing track;
The controller is used for driving the robot polishing arm with the polishing blade to feed the polishing blade to a current pre-polishing point according to the preset pose information; acquiring a circumferential force value and an axial force value of the polishing blade at the current pre-polishing point; driving the robot grinding arm to feed the grinding blade from the current pre-grinding point to a current deviation-correcting grinding point in a variable speed mode according to the circumferential force value and the axial force value;
The preset pose information is used for calibrating the pose of the current pre-polishing point in a robot coordinate system, the circumferential force value is used for calibrating the circumferential force parallel to the polishing blade, and the axial force value is used for calibrating the axial force perpendicular to the polishing blade.
10. a computer readable storage medium, c h a r a c t e r i z e d i n that it is configurable to communicate with an abrading robot and that it stores at least one instruction or at least one abrading control program or set of codes or instructions, which is loaded and executed by the abrading robot for performing the operational steps performed in the robot abrading arm stepping control method according to any of claims 1-7.
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