CN112659121A - Robot grinding wheel radius compensation method and device, robot and storage medium - Google Patents
Robot grinding wheel radius compensation method and device, robot and storage medium Download PDFInfo
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Abstract
The application discloses a robot grinding wheel radius compensation method, a robot grinding wheel radius compensation device, a robot and a storage medium, wherein the method comprises the following steps: acquiring a compensation value; acquiring the pose of interpolation points of the track of the tool center point in a pre-established tool coordinate system, and constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, wherein the Z axis of the tool coordinate system is vertical to the wheel surface of the grinding wheel; obtaining the initial offset of each interpolation point in the tool path coordinate system according to the compensation value; converting the initial offset into a tool coordinate system to obtain a target offset; and calculating to obtain the target coordinates of the compensated interpolation points in the tool coordinate system by using the poses of the interpolation points and the target offset. In this way, this application can be through establishing instrument coordinate system and instrument route coordinate system, turns into the offset with the offset of user input's offset, compensates the instrument central point of robot grinding wheel, avoids robot grinding wheel because of wearing and tearing lead to the precision of processing not enough.
Description
Technical Field
The application relates to the technical field of polishing devices, in particular to a robot grinding wheel radius compensation method and device, a robot and a storage medium.
Background
In the robot application of polishing, the grinding wheel radius of the installation of process repeated friction on the robot flange can diminish, leads to not polishing the work piece according to the orbit originally taught, consequently needs the orbit of re-teaching, perhaps makes the orbit produce holistic skew. However, the re-teaching process takes a long time, and the grinding wheel becomes smaller after the new teaching point is repeatedly processed, so that the teaching mode is not reusable. Secondly, if the grinding tracks are completely in the same plane during the machining process, the method of overall deviation of the tracks can be used, but generally the workpiece to be ground cannot only have the edges in the same plane to be ground, for example: when six faces need to be polished by the cylindrical body, the grinding wheel is not only used for polishing in one plane, but also used for solving the problem that only one plane can be polished by integral deviation, other planes need to be manually adjusted, the operation is complex and the efficiency is low. Therefore, it is necessary to provide a method to solve the above problems.
Disclosure of Invention
The application provides a robot grinding wheel radius compensation method, a robot grinding wheel radius compensation device, a robot and a storage medium, and aims to solve the problem that machining precision is reduced due to abrasion of an existing robot grinding wheel.
In order to solve the technical problem, the application adopts a technical scheme that: provided is a robot grinding wheel radius compensation method, including: acquiring a compensation value; acquiring the pose of interpolation points of the track of the tool center point in a pre-established tool coordinate system, and constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, wherein the Z axis of the tool coordinate system is vertical to the wheel surface of the grinding wheel; obtaining the initial offset of each interpolation point in the tool path coordinate system according to the compensation value; converting the initial offset into a tool coordinate system to obtain a target offset; and calculating to obtain the target coordinates of the compensated interpolation points in the tool coordinate system by using the poses of the interpolation points and the target offset.
As a further improvement of the present application, the step of constructing a tool path coordinate system for each interpolation point includes: acquiring the tangential direction of the track and the Z-axis direction of a tool coordinate system; the X-axis direction, the Y-axis direction and the Z-axis direction of the tool path coordinate system are determined based on the tangential direction and the Z-axis direction of the tool coordinate system.
As a further improvement of the present application, the step of determining the X-axis direction, the Y-axis direction, and the Z-axis direction of the tool path coordinate system based on the tangential direction and the Z-axis direction of the tool coordinate system includes: setting the tangential direction as the X-axis direction of the tool path coordinate system; performing cross multiplication on the X-axis direction of the tool path coordinate system and the Z-axis direction of the tool coordinate system to obtain the Y-axis direction of the tool path coordinate system; and performing cross multiplication on the X-axis direction of the tool path coordinate system and the Y-axis direction of the tool path coordinate system to obtain the Z-axis direction of the tool path coordinate system.
As a further refinement of the present application, the Z-axis direction of the tool coordinate system is disposed along the central axis of the grinding wheel.
As a further improvement of the present application, the step of converting the initial offset into a tool coordinate system to obtain a target offset includes: calculating by using the pose of the interpolation point to obtain a rotation matrix between a tool coordinate system and a tool path coordinate system; and converting the initial offset into a tool coordinate system according to the rotation matrix and the initial offset to obtain a target offset.
As a further improvement of the present application, after the step of constructing the tool path coordinate system of each interpolation point, the method further includes: judging whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the previous interpolation point; if yes, reversing the Y axis of the tool path coordinate system corresponding to the current interpolation point.
In order to solve the above technical problem, another technical solution adopted by the present application is: provided is a robot grinding wheel radius compensation device, including: the acquisition module is used for acquiring a compensation value; the building module is coupled with the obtaining module and used for obtaining the pose of the interpolation points of the track of the tool center point in a pre-established tool coordinate system and building a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, wherein the Z axis of the tool coordinate system is vertical to the wheel surface of the grinding wheel; the receiving module is coupled with the building module and used for obtaining the initial offset of each interpolation point in the tool path coordinate system according to the compensation value; the conversion module is coupled with the receiving module and used for converting the initial offset into a tool coordinate system to obtain a target offset; and the calculation module is coupled with the conversion module and used for calculating the target coordinate of the compensated interpolation point in the tool coordinate system by utilizing the pose and the target offset of the interpolation point.
In order to solve the above technical problem, the present application adopts another technical solution that: providing a robot comprising a controller, a memory coupled to the controller, wherein the memory stores program instructions for implementing the robot grinding wheel radius compensation method of any one of the above; the controller is operable to execute the program instructions stored in the memory to effect compensation of a radius of a grinding wheel of the robot.
In order to solve the above technical problem, the present application adopts another technical solution that: there is provided a storage medium storing a program file capable of implementing the robot grinding wheel radius compensation method of any one of the above.
The beneficial effect of this application is: according to the method, an obtained compensation value is converted into an initial offset under a tool path coordinate system by constructing a tool coordinate system of a grinding wheel and the tool path coordinate system of each interpolation point, a rotation matrix between the tool coordinate system and the tool path coordinate system is obtained through the coordinate of the same interpolation point under the tool coordinate system and the coordinate calculation under the tool path coordinate system, the rotation matrix is used for carrying out rotation transformation on the initial offset to obtain a target offset under the tool coordinate system, and the coordinate of a tool center point of the grinding wheel of the robot is reset on the basis of the pose of the interpolation point and the target offset, so that when the robot executes a Cartesian space interpolation track, the tool center point of the grinding wheel of the robot is offset, the radius compensation of the grinding wheel is realized, and the machining precision of a workpiece is improved.
Drawings
FIG. 1 is a schematic flow diagram of a method of robotic grinding wheel radius compensation in accordance with a first embodiment of the present application;
FIG. 2 is a schematic diagram of the tool path coordinate system creation of the present application;
FIG. 3 is a schematic flow diagram of a method of compensating for the radius of a robotic grinding wheel according to a second embodiment of the present application;
FIG. 4 is a schematic view of the present application illustrating a reversal of the tangential direction of the grinding wheel;
FIG. 5 is a schematic structural diagram of a robotic grinding wheel radius compensation device according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a robot according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a storage medium according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Fig. 1 is a schematic flow chart of a method for compensating the radius of a robotic grinding wheel according to a first embodiment of the present application. It should be noted that the method of the present application is not limited to the flow sequence shown in fig. 1 if the results are substantially the same. As shown in fig. 1, the method comprises the steps of:
step S100: and acquiring a compensation value.
In step S100, since the grinding wheel is always worn and the grinding wheels of different materials are not worn at the same speed, the user is required to input a corresponding compensation value at a certain interval.
It should be noted that, in some embodiments, the compensation value may be set by user input, and the set compensation value may be obtained by user through experiments and experience. In other embodiments, the compensation value may be obtained by measuring wear data of the grinding wheel, inputting the wear data of the grinding wheel into a compensation algorithm, and calculating the compensation value, wherein the compensation algorithm is obtained by a user according to experimental training.
Step S101: and acquiring the pose of each interpolation point of the track of the tool center point in a pre-established tool coordinate system, and constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, wherein the Z axis of the tool coordinate system is vertical to the wheel surface of the grinding wheel.
In step S101, it should be noted that the robot plans a trajectory through a motion planning algorithm, the trajectory has a plurality of interpolation points, and a pose of each interpolation point is obtained in a robot teaching process, where the pose includes a position and a posture. In this embodiment, the tool coordinate system is constructed such that the Z-axis of the tool coordinate system is perpendicular to the wheel face of the grinding wheel. Preferably, in some embodiments, the Z-axis direction of the tool coordinate system is arranged along the central axis of the grinding wheel, because the grinding wheel surface is worn when the grinding wheel grinds the tool, the grinding wheel radius is reduced, and the offset of the grinding wheel is along the radial direction of the grinding wheel, therefore, the user sets a compensation value along the radial direction, and when the Z-axis direction of the tool coordinate system is taken as the grinding wheel central axis, the compensation value can be quickly converted into the tool coordinate system, and calculation is convenient. The step of constructing a tool path coordinate system of each interpolation point specifically comprises the following steps:
1. the tangential direction of the trajectory is obtained, as well as the Z-direction of the tool coordinate system.
Specifically, a track formed by connecting all interpolation points is a track of the grinding wheel when the grinding wheel grinds the workpiece, and the tangential direction of each interpolation point at the track and the Z-axis direction of the tool coordinate system are obtained.
2. The X-axis direction, the Y-axis direction and the Z-axis direction of the tool path coordinate system are determined based on the tangential direction and the Z-axis direction of the tool coordinate system.
Specifically, the tangential direction of the trajectory and the Z-axis direction of the tool coordinate system are used to determine the X-axis direction, the Y-axis direction and the Z-axis direction of the tool path coordinate system, and then each interpolation point is used as an origin to establish the tool path coordinate system of each interpolation point.
Further, referring to fig. 2, determining the X-axis direction, the Y-axis direction, and the Z-axis direction of the tool path coordinate system based on the tangential direction and the Z-axis direction of the tool coordinate system specifically includes:
2.1, setting the tangential direction as the X-axis direction of a tool path coordinate system;
2.2, performing cross multiplication on the X-axis direction of the tool path coordinate system and the Z-axis direction of the tool coordinate system to obtain the Y-axis direction of the tool path coordinate system;
and 2.3, performing cross multiplication on the X-axis direction of the tool path coordinate system and the Y-axis direction of the tool path coordinate system to obtain the Z-axis direction of the tool path coordinate system.
Step S102: and obtaining the initial offset of each interpolation point in the corresponding tool path coordinate system according to the compensation value.
In step S102, the compensation value is converted into a tool path coordinate system to obtain an initial offset. Specifically, it can be seen from the above that the Y axis of the tool path coordinate system is along the radial direction of the grinding wheel, and the wear direction of the grinding wheel is also along the radial direction of the grinding wheel, so when compensating the grinding wheel, it is necessary to perform offset compensation on the Y axis in the tool path coordinate system, therefore, assuming that the compensation value input by the user is a, the Y axis in the tool path coordinate system is performed with offset compensation, and other axes may not need to be performed with offset, the compensation value is converted into the tool path coordinate system to obtain the initial offset (0, -a, 0).
Step S103: and converting the initial offset into a tool coordinate system to obtain a target offset.
In step S103, a rotation matrix of the tool coordinate system and the tool path coordinate system is calculated by using the pose of each interpolation point in the tool coordinate system, and the initial offset is converted into the tool coordinate system by the rotation matrix, so as to obtain a target offset.
In some embodiments, step S103 specifically includes:
1. and calculating to obtain a rotation matrix between the tool coordinate system and the tool path coordinate system by using the pose of the interpolation point.
Specifically, in this embodiment, the tool path coordinate system is obtained by performing euler angle rotation transformation based on the tool coordinate system, where the euler angle transformation refers to that, according to a process of converting from the tool coordinate system to the tool path coordinate system, the tool path coordinate system is obtained by first rotating according to the z-axis, then rotating according to the y-axis, and then rotating according to the x-axis, the angle of rotation according to the z-axis is yaw, the angle of rotation according to the y-axis is pitch, and the angle of rotation according to the x-axis is roll, and then a rotation matrix from the tool coordinate system to the tool path coordinate system is defined as follows:
thus, the rotation matrices for the tool coordinate system and the tool path coordinate system are obtained as follows:
wherein the angle of rotation along the z-axis is yaw, the angle of rotation along the y-axis is pitch, the angle of rotation along the x-axis is roll, the directions of the axes of the tool coordinate system and the tool path coordinate system have been obtained in the above steps, roll can be confirmed from the direction of the x-axis of the tool coordinate system and the direction of the x-axis of the tool path coordinate system, pitch can be confirmed from the direction of the y-axis of the tool coordinate system and the direction of the y-axis of the tool path coordinate system, and yaw can be confirmed from the direction of the z-axis of the tool coordinate system and the direction of the z-axis of the tool path coordinate system. And then calculating by referring to the formula to obtain a rotation matrix.
2. And converting the initial offset into a tool coordinate system according to the rotation matrix to obtain a target offset.
Specifically, the calculation process for converting the initial offset into the target offset is as follows:
CWOBJ＝TPORI*CTP；
wherein, CWOBJIs a target offset amount, CTPIs the initial offset. .
In the embodiment, the initial offset in the tool path coordinate system is converted into the target offset in the tool coordinate system by using the rotation matrix, and the grinding wheel is compensated according to the target offset, so that the offset in the radius direction of the grinding wheel is realized, and the machining precision of the workpiece is improved.
Step S104: and calculating to obtain the target coordinates of the compensated interpolation points in the tool coordinate system by using the poses of the interpolation points and the target offset.
In step S104, calculating the target offset and the pose of the interpolation point in the tool coordinate system, specifically:
PWITH_C＝P+CWOBJ；
wherein, PWITH_CFor the compensated target coordinates of the interpolation point in the tool coordinate system, P is the coordinates of the initial interpolation point in the tool coordinate system.
In this embodiment, a tool center point is taken as an origin of coordinates of a tool coordinate system, and coordinates of an interpolation point before compensation in the tool coordinate system are known, so that a positional relationship between the tool center point and the interpolation point before compensation can be obtained, and after a target coordinate of the interpolation point after compensation is obtained, a new position of the tool center point can be confirmed by referring to the positional relationship between the tool center point and the interpolation point before compensation, and then the movement of the tool center point is controlled to the new position to machine a workpiece, thereby realizing compensation of a grinding wheel radius.
The robot grinding wheel radius compensation method provided by the application constructs a tool coordinate system of the grinding wheel, and a tool path coordinate system of each interpolation point, converting the obtained compensation value into an initial offset under the tool path coordinate system, the rotation matrix between the tool coordinate system and the tool path coordinate system is obtained through the calculation of the coordinates of the same interpolation point under the tool coordinate system and the coordinates under the tool path coordinate system, the initial offset is subjected to rotation transformation by utilizing the rotation matrix to obtain the target offset under the tool coordinate system, the coordinates of the tool center point of the grinding wheel of the robot are reset based on the pose of the interpolation point and the target offset, so that when the robot executes a Cartesian space interpolation track, the tool center point of the robot grinding wheel is deviated, the radius compensation of the grinding wheel is realized, and the machining precision of workpieces is improved.
Fig. 3 is a schematic flow chart of a method for compensating the radius of a robotic grinding wheel according to a second embodiment of the present application. It should be noted that the method of the present application is not limited to the flow sequence shown in fig. 3 if the results are substantially the same. As shown in fig. 3, the method comprises the steps of:
step S200: and acquiring a compensation value.
In this embodiment, step S200 in fig. 3 is similar to step S100 in fig. 1, and for brevity, is not described herein again.
Step S201: and acquiring the pose of the interpolation points of the track of the tool center point in a pre-established tool coordinate system, and constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, wherein the tool coordinate system is constructed by taking the grinding wheel center point as the origin.
In this embodiment, step S201 in fig. 3 is similar to step S101 in fig. 1, and for brevity, is not described herein again.
Step S202: and judging whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the previous interpolation point. If yes, go to step S203; if not, go to step S204.
In step S202, referring to fig. 4 together, the Z-tool is the Z-axis of the tool coordinate system, and in some cases, the grinding track of the grinding wheel is not along a single direction, and there may be a case as shown in fig. 4, which may cause the tangential direction along the track to be reversed, resulting in the Y-axis direction of the tool path coordinate system to be reversed. If the Z-axis direction of the tool coordinate system is not reversed, the deviation direction of the grinding wheel is wrong, the grinding wheel is farther away from the workpiece after deviation, and the work load of workers is increased and the processing efficiency is reduced by reversing the Z-axis direction of the tool coordinate system by a user. In order to solve the above problem, in this embodiment, it is determined whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the previous interpolation point, so as to determine whether the machining trajectory of the grinding wheel changes, and if so, step S203 is executed.
Step 203: and reversing the Y axis of the tool path coordinate system corresponding to the current interpolation point.
In step S203, if the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the previous interpolation point, the Y-axis of the tool path coordinate system corresponding to the current interpolation point is reversed, so as to ensure that the final offset direction of the grinding wheel is correct.
Step S204: and obtaining the initial offset of each interpolation point in the tool path coordinate system according to the compensation value.
In this embodiment, step S204 in fig. 3 is similar to step S102 in fig. 1, and for brevity, is not described herein again.
Step S205: and converting the initial offset into a tool coordinate system to obtain a target offset.
In this embodiment, step S205 in fig. 3 is similar to step S103 in fig. 1, and for brevity, is not described herein again.
Step S206: and calculating to obtain the target coordinates of the compensated interpolation points by using the pose and the target offset of the interpolation points.
In this embodiment, step S206 in fig. 3 is similar to step S104 in fig. 1, and for brevity, is not described herein again.
On the basis of the first embodiment, whether the machining track of the grinding wheel is reversed is determined by detecting whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the previous interpolation point, if so, the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is reversed to ensure that the final grinding wheel is correct in the offset direction, the Z-axis direction of the tool path coordinate system is not required to be reversed manually, the manpower loss is reduced, and the workpiece machining efficiency is improved.
Fig. 5 is a schematic structural diagram of a robot grinding wheel radius compensation device according to an embodiment of the present application. As shown in fig. 5, in the present embodiment, the robot grinding wheel radius compensation device 70 includes an acquisition module 71, a building module 72, a receiving module 73, a conversion module 74, and a calculation module 75.
An obtaining module 71, configured to obtain a compensation value;
the building module 72 is coupled with the obtaining module 71 and is used for obtaining the pose of the interpolation point of the track of the tool center point in a pre-established tool coordinate system and building a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, wherein the Z axis of the tool coordinate system is vertical to the wheel surface of the grinding wheel;
a receiving module 73, coupled to the constructing module 72, configured to obtain an initial offset of each interpolation point in the tool path coordinate system according to the compensation value;
a conversion module 74, coupled to the receiving module 73, for converting the initial offset into a tool coordinate system to obtain a target offset;
and the calculating module 75 is coupled to the converting module 74, and is configured to calculate, by using the pose and the target offset of the interpolation point, a target coordinate of the compensated interpolation point in the tool coordinate system.
Optionally, the operation of the building module 72 for building the tool path coordinate system of each interpolation point is specifically: acquiring the tangential direction of the track and the Z-axis direction of a tool coordinate system; the X-axis direction, the Y-axis direction and the Z-axis direction of the tool path coordinate system are determined based on the tangential direction and the Z-axis direction of the tool coordinate system. .
Optionally, the operation of the building module 72 for determining the X-axis direction, the Y-axis direction and the Z-axis direction of the tool path coordinate system based on the tangential direction and the Z-axis direction of the tool coordinate system is specifically: setting the tangential direction as the X-axis direction of the tool path coordinate system; performing cross multiplication on the X-axis direction of the tool path coordinate system and the Z-axis direction of the tool coordinate system to obtain the Y-axis direction of the tool path coordinate system; and performing cross multiplication on the X-axis direction of the tool path coordinate system and the Y-axis direction of the tool path coordinate system to obtain the Z-axis direction of the tool path coordinate system. .
Optionally, the Z-axis direction of the tool coordinate system is disposed along the central axis of the grinding wheel.
Optionally, the converting module 74 converts the initial offset into the tool coordinate system, and the operation of obtaining the target offset specifically includes: calculating by using the pose of the interpolation point to obtain a rotation matrix between a tool coordinate system and a tool path coordinate system; and converting the initial offset into a tool coordinate system according to the rotation matrix and the initial offset to obtain a target offset. .
Optionally, the operation of the building module 72 to build the tool path coordinate system of each interpolation point further includes: judging whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the previous interpolation point; if yes, reversing the Y axis of the tool path coordinate system corresponding to the current interpolation point.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a robot according to an embodiment of the present application. As shown in fig. 6, the robot 80 includes a processor 81 and a memory 82 coupled to the processor 81.
The memory 82 stores program instructions for implementing the method for compensating the radius of the robotic grinding wheel according to any of the embodiments described above.
The processor 81 is operable to execute program instructions stored in the memory 82 to effect compensation of the radius of the grinding wheel of the robot.
The processor 81 may also be referred to as a CPU (Central Processing Unit). The processor 81 may be an integrated circuit chip having signal processing capabilities. Processor 81 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a storage medium according to an embodiment of the present application. The storage medium of the embodiment of the present application stores a program file 91 capable of implementing all the methods described above, where the program file 91 may be stored in the storage medium in the form of a software product, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
In the several embodiments provided in the present application, it should be understood that the disclosed robot, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (9)
1. A robotic grinding wheel radius compensation method, comprising:
acquiring a compensation value;
the method comprises the steps of obtaining the pose of each interpolation point of a track of a tool center point in a pre-established tool coordinate system, and constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, wherein the Z axis of the tool coordinate system is vertical to the wheel surface of a grinding wheel;
obtaining the initial offset of each interpolation point in the tool path coordinate system according to the compensation value;
converting the initial offset into the tool coordinate system to obtain a target offset;
and calculating to obtain the target coordinates of the compensated interpolation points in the tool coordinate system by using the pose of the interpolation points and the target offset.
2. The robotic grinding wheel radius compensation method of claim 1, wherein said step of constructing a tool path coordinate system for each of said interpolation points comprises:
acquiring the tangential direction of the track at each interpolation point and the Z-axis direction of the tool coordinate system;
and determining the X-axis direction, the Y-axis direction and the Z-axis direction of the tool path coordinate system based on the tangent direction and the Z-axis direction of the tool coordinate system.
3. The robotic grinding wheel radius compensation method of claim 2, wherein said step of determining an X-axis direction, a Y-axis direction, and a Z-axis direction of the tool path coordinate system based on the tangential direction, the Z-axis direction of the tool coordinate system comprises:
setting the tangential direction as an X-axis direction of the tool path coordinate system;
performing cross multiplication on the X-axis direction of the tool path coordinate system and the Z-axis direction of the tool coordinate system to obtain the Y-axis direction of the tool path coordinate system;
and performing cross multiplication on the X-axis direction of the tool path coordinate system and the Y-axis direction of the tool path coordinate system to obtain the Z-axis direction of the tool path coordinate system.
4. The robotic grinding wheel radius compensation method of claim 2 or 3, wherein the Z-axis direction of the tool coordinate system is disposed along the central axis of the grinding wheel.
5. The robotic grinding wheel radius compensation method of claim 1, wherein said step of converting said initial offset into said tool coordinate system to obtain a target offset comprises:
calculating to obtain a rotation matrix between the tool coordinate system and the tool path coordinate system by using the pose of the interpolation point;
and converting the initial offset into the tool coordinate system according to the rotation matrix and the initial offset to obtain the target offset.
6. The robotic grinding wheel radius compensation method of claim 1, wherein said step of constructing a tool path coordinate system for each of said interpolation points is followed by further comprising:
judging whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the previous interpolation point;
and if so, reversing the Y axis of the tool path coordinate system corresponding to the current interpolation point.
7. A robotic grinding wheel radius compensation device, comprising:
the acquisition module is used for acquiring a compensation value;
the building module is coupled with the acquiring module and used for acquiring the pose of interpolation points of the track of the tool center point in a pre-established tool coordinate system and building a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, wherein the Z axis of the tool coordinate system is vertical to the wheel surface of the grinding wheel;
the receiving module is coupled with the building module and used for obtaining the initial offset of each interpolation point under the tool path coordinate system according to the compensation value;
the conversion module is coupled with the receiving module and used for converting the initial offset into the tool coordinate system to obtain a target offset;
and the calculation module is coupled with the conversion module and used for calculating the target coordinate of the compensated interpolation point in the tool coordinate system by utilizing the pose of the interpolation point and the target offset.
8. A robot comprising a controller, a memory coupled to the controller, wherein,
the memory stores program instructions for implementing the robotic grinding wheel radius compensation method of any one of claims 1-7;
the controller is to execute the program instructions stored by the memory to implement compensating a radius of a grinding wheel of a robot.
9. A storage medium storing a program file capable of implementing the robot grinding wheel radius compensation method according to any one of claims 1 to 7.
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