CN112720466A - Tool inclination angle gravity compensation method - Google Patents
Tool inclination angle gravity compensation method Download PDFInfo
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- CN112720466A CN112720466A CN202011497176.4A CN202011497176A CN112720466A CN 112720466 A CN112720466 A CN 112720466A CN 202011497176 A CN202011497176 A CN 202011497176A CN 112720466 A CN112720466 A CN 112720466A
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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
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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
-
- 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
-
- 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)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a tool inclination angle gravity compensation method, which is used for grasping a tool through a driving device and comprises the following steps: acquiring the axial direction of the tool, and calculating an included angle between the axial direction of the tool and the gravity direction; calculating the gravity of the tool according to the mass of the tool, and calculating the component force of the gravity of the tool along the axial direction of the tool based on the included angle; the tool has a preset contact force value, the output force which is required to be applied to the tool by the driving device is calculated according to the preset contact force value and the component force of the tool gravity along the axial direction of the tool, and the constant control of the contact force during the polishing and grinding operation of the tool is realized. Control of calculating non-axial forces may also be extended by this method.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a tool inclination angle gravity compensation method.
Background
When the robot carries out polishing and grinding operations on the gripping tool, if the posture of the gripping tool of the robot changes, the component force of the tool gravity along the axial direction of the tool also changes. The component force can cause the contact force to fluctuate, and further cause processing defects such as uneven processing, burr generation and the like.
At present, a tilt sensor is mainly adopted in the aspect of tool tilt angle measurement in most robot grinding constant force control, and measurement accuracy and response speed are limited by the performance of the sensor. The output signal of the sensor is generally analog quantity, and the signal distortion is easily caused by the interference of a field electromagnetic field in the transmission process, so that the grinding effect is influenced.
Disclosure of Invention
The invention aims to provide a tool inclination angle gravity compensation method, which realizes the quick calculation of the real-time inclination angle of a tool and carries out compensation according to gravity.
In order to achieve the above purpose, the invention provides the following technical scheme:
a tool tilt gravity compensation method for gripping a tool by a drive device, comprising the steps of:
s1: acquiring the axial direction of the tool, and calculating an included angle between the axial direction of the tool and the gravity direction;
s2: calculating the gravity of the tool according to the mass of the tool, and calculating the component force of the gravity of the tool along the axial direction of the tool based on the included angle;
s3: the tool is provided with a preset contact force value, the output force which is required to be applied to the tool by the driving device is calculated according to the preset contact force value and the component force of the tool gravity along the axial direction of the tool, and the constant control of the contact force is realized when the tool is polished and ground.
Further, the driving device comprises a cylinder, an output end of the cylinder being connected with the tool, the cylinder being adapted to provide the output force to the tool.
Further, the method also comprises the following steps: s4: acquiring the diameter of the cylinder, and calculating the required air pressure value of the cylinder and the output direction of the cylinder based on the output force and the diameter of the cylinder;
s5: the output direction of the cylinder and the air pressure value in the cylinder are controlled by a control device.
Further, step S1 includes:
s11: establishing a base coordinate system, wherein the X axis and the Y axis of the base coordinate system are both parallel to the horizontal plane;
s12: establishing a tool coordinate system by taking the central point of the tool as an origin;
s13: confirming the coordinates of the tool coordinate system under the base coordinate system;
s14: target point coordinates P1 of the tool coordinate system in the base coordinate system;
P1＝[[x1，y1，z1]，[q4，1，q5，1，q6，1，q7，1]] (1)
wherein [ x ]1，y1，z1]And represents the position value of the target point P1, [ q ]4，1，q5，1，q6，1，q7，1]A quaternion representing the orientation of the target point P1, transform equation (1) to a rotation matrix T (q),
s15: wherein in the rotation matrix T (q)
Calculating an included angle theta between the Z-axis direction of the tool coordinate system and the Z-axis direction of the base coordinate system through an inverse cosine function for a cosine value of the included angle between the Z-axis direction of the tool coordinate system and the Z-axis direction of the base coordinate system,
further, the component force of the tool gravity along the axial direction of the tool is FgIn units of N, FgWhere m is the mass of the tool in kg, g is the acceleration of gravity 9.8N/kg, and θ is the angle between the axial direction of the tool and the direction of gravity.
Further, the output force that the cylinder should impart to the tool is F ═ FContact-FgWherein F isContactIs a preset value of contact force in N.
Furthermore, the control equipment comprises an electromagnetic directional valve, an electric proportional valve and a filtering and reducing valve, and compressed air sequentially passes through the filtering and reducing valve, the electric proportional valve and the electromagnetic directional valve and enters the air cylinder.
Further, the output direction of the cylinder includes a positive direction and a negative direction; when the output direction of the air cylinder is positive, the output force F of the tool is more than or equal to 0, and ValveOUT＝0，ValveOUTA switching valve output (BOOL), the electromagnetic switching valve being in a positive pressure output state, a pressure output value P of the electric proportional valveOUT＝F/S+、POUTIn kPa, wherein said S is+Is the positive acting stress area of the cylinder with the unit of mm2(ii) a When the output direction of the air cylinder is negative, the output force F of the tool is less than 0, and Valve OUT1, the electromagnetic directional valve is in a reverse pressure output state, and the pressure output value P of the electric proportional valveOUT＝-F/S-、POUTIs not only a sheetPosition is kPa, wherein S-Is the reaction force area of the cylinder with the unit of mm2。
Further, the direction of the output force is parallel to the axial direction of the tool.
According to the gravity compensation method for the tool inclination angle, the tool inclination angle is calculated through the robot, the influence of the tool gravity and the tool space posture on the contact force is corrected in real time, the constant contact force in the machining process is ensured, and the gravity compensation method has the advantages of being high in measurement accuracy, short in response time and strong in anti-interference capacity. Control of calculating non-axial forces may also be extended by this method.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. Wherein:
FIG. 1 is a schematic diagram of a robot, tool and drive apparatus for a tool tilt gravity compensation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the gas paths of the solenoid directional valve, the electric proportional valve and the filtering pressure reducing valve of the tool tilt gravity compensation method according to an embodiment of the present invention;
FIG. 3 is an electrical schematic diagram of the solenoid directional valve and the electrical proportional valve of a tool tilt gravity compensation method according to an embodiment of the present invention;
FIG. 4 is a flow chart of a tool tilt gravity compensation method according to an embodiment of the present invention.
Description of reference numerals: 1-a robot; 2-a tool; 3-driving the device; 4-a workpiece; 5-an electromagnetic directional valve; 6-electric proportional valve; 7-filtering pressure reducing valve.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the invention, and not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
One or more examples of the invention are illustrated in the accompanying drawings. The detailed description uses numerical and letter designations to refer to features in the drawings. Like or similar designations in the drawings and description have been used to refer to like or similar parts of the invention. As used herein, the terms "first," "second," "third," and "fourth" may be used interchangeably to distinguish one component from another and are not intended to denote the position or importance of the individual components.
As shown in fig. 1 to 4, according to an embodiment of the present invention, there is provided a tool inclination gravity compensation method, in which an output end of a robot 1 grips a tool 2 through a driving device 3, a workpiece 4 is ground through the tool 2, the driving device 3 simultaneously serves to connect the robot 1 and the tool 2 when in use, and the driving device 3 can be regarded as a connector when in use, including the following steps: s1: acquiring the axial direction of the tool 2, wherein the axial direction of the tool rotation is the axial direction of the tool, and calculating an included angle between the axial direction of the tool 2 and the gravity direction; wherein the step S1 includes the steps of: s11: establishing a base coordinate system, wherein the X axis and the Y axis of the base coordinate system are parallel to the horizontal plane; s12: establishing a coordinate system of the tool 2 by taking the central point of the tool 2 as an origin; s13: confirming the coordinate of the tool 2 coordinate system under the base coordinate system;
s14: target point coordinates P1 in the base coordinate system of the tool 2 coordinate system;
P1＝[[x1，y1，z1]，[q4，1，q5，1，q6，1，q7，1]] (1)
wherein [ x ]1，y1，z1]Represents the position value of the target point P1, [ q ]4，1，q5，1，q6，1，q7，1]The quaternion representing the orientation of the target point P1 converts the following equation (1) into a rotation matrix
S15: calculating an included angle between the Z-axis direction of the tool 2 coordinate system and the Z-axis direction of the basic coordinate system through the third row and the third column of the T (q) rotation matrix and the cosine function of the robot 1, wherein the included angle between the Z-axis direction of the tool 2 coordinate system and the Z-axis direction of the basic coordinate system is an included angle between the axial direction of the tool 2 and the gravity direction, writing an angle calculation program in a timing interrupt program during actual use, repeating the operation of the step S1 through the angle calculation program, so that the included angle theta between the current tool 2 and the gravity direction can be obtained regularly,
s2: calculating the gravity of the tool according to the mass of the tool 2, preferably calculating the component force of the gravity of the tool 2 along the axial direction of the tool 2 based on the included angle, wherein the component force of the gravity of the tool along the axial direction of the tool is FgM × g × cos θ, where m is the mass of the tool 2 in kg, g is the acceleration of gravity 9.8N/kg, and θ is the nip between the axial direction of the tool 2 and the direction of gravity, in NAnd (4) an angle.
S3: the tool 2 has a preset contact force value, and the output force which is required to be applied to the tool 2 by the driving device 3 is calculated according to the preset contact force value and the component force of the gravity of the tool 2 along the axial direction of the tool 2, so that the constant control of the contact force is realized when the tool 2 is polished and ground. The drive device 3 preferably comprises a pneumatic cylinder, the output of which is connected to the tool 2 and which is intended to provide an output force to the tool 2, preferably an output force F ═ F which is used by the pneumatic cylinder to impart to the tool 2Contact-FgWherein F isContactIs a preset value of contact force in N.
According to the method, the included angle between the axial direction of the gripping tool and the gravity direction is calculated through the terminal coordinates of the robot, the component force of the tool gravity along the contact force direction (axial direction) is calculated, and finally the contact force is compensated through the controller, so that the influence of the component force of the gravity is balanced, and the contact force in the machining process is constant.
Preferably, the method further comprises the following steps: s4: acquiring the diameter of the cylinder, and calculating the air pressure value required by the cylinder and the output direction of the cylinder on the basis of the output force and the diameter of the cylinder; s5: the output direction of the cylinder and the air pressure value in the cylinder are controlled by the control device.
Preferably, the control device comprises a solenoid directional valve 5, an electric proportional valve 6 and a filtering and pressure reducing valve 7, and compressed air enters the cylinder through the filtering and pressure reducing valve 7, the electric proportional valve 6 and the solenoid directional valve 5 in sequence. Preferably, the output direction of the cylinder includes a positive direction and a negative direction; when the output direction of the air cylinder is positive, the output force F of the tool 2 is more than or equal to 0, and ValveOUT＝0，ValveOUTThe electromagnetic directional valve 5 is in a positive pressure output state for the directional valve output (BOOL), and the electric proportional valve 6 has a pressure output value POUT＝F/S+In which S is+Is the positive acting stress area of the cylinder; when the output direction of the air cylinder is negative, the output force F of the tool 2 is less than or equal to 0, and Valve OUT1, the electromagnetic directional valve 5 is in a reverse pressure output state, and the pressure output value P of the electric proportional valve 6OUT＝-F/S-POUT has a unit of kPa, wherein S-Is the reaction force area of the cylinder, and the unit is mm2。
Preferably, the direction of the output force is parallel to the axial direction of the tool 2.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
compared with the prior art, the method has the advantages that the included angle between the axial direction of the gripping tool 2 and the gravity direction is calculated through the coordinate at the end 1 of the robot, the component force of the gravity of the tool 2 along the contact force direction is calculated, and finally the contact force is compensated through the controller, so that the influence of the component force of the gravity is balanced, and the contact force is constant in the machining process. The invention calculates the inclination angle of the tool 2 through the robot 1, corrects the influence of the gravity of the tool 2 and the spatial attitude of the tool on the contact force in real time, ensures constant contact force in the machining process, and has the characteristics of high measurement precision, short response time and strong anti-interference capability. According to the method, the component force in any direction can be balanced, and the method is the same. Only the directions defining the tool coordinate system are different.
The above is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A tool tilt gravity compensation method for gripping a tool by a drive device, comprising the steps of:
s1: acquiring the axial direction of the tool, and calculating an included angle between the axial direction of the tool and the gravity direction;
s2: calculating the gravity of the tool according to the mass of the tool, and calculating the component force of the gravity of the tool along the axial direction of the tool based on the included angle;
s3: the tool is provided with a preset contact force value, the output force which is required to be applied to the tool by the driving device is calculated according to the preset contact force value and the component force of the tool gravity along the axial direction of the tool, and the constant control of the contact force is realized when the tool is polished and ground.
2. The tool tilt gravity compensation method of claim 1, wherein: the driving device comprises a cylinder, the output end of the cylinder is connected with the tool, and the cylinder is used for providing the output force for the tool.
3. A tool tilt gravity compensation method according to claim 2, wherein: further comprising the steps of:
s4: acquiring the diameter of the cylinder, and calculating the required air pressure value of the cylinder and the output direction of the cylinder based on the output force and the diameter of the cylinder;
s5: the output direction of the cylinder and the air pressure value in the cylinder are controlled by a control device.
4. The tool tilt gravity compensation method of claim 1, wherein: step S1 includes:
s11: establishing a base coordinate system, wherein the X axis and the Y axis of the base coordinate system are both parallel to the horizontal plane;
s12: establishing a tool coordinate system by taking the central point of the tool as an origin;
s13: confirming the coordinates of the tool coordinate system under the base coordinate system;
s14: target point coordinates P1 of the tool coordinate system in the base coordinate system;
P1＝[[x1，y1，z1]，[q4，1，q5，1，q6，1，q7，1]] (1)
wherein [ x ]1，y1，z1]And represents the position value of the target point P1, [ q ]4，1，q5，1，q6，1，q7，1]A quaternion representing the orientation of the target point P1, transform equation (1) to a rotation matrix T (q),
s15: wherein in the rotation matrix T (q)
Calculating an included angle theta between the Z-axis direction of the tool coordinate system and the Z-axis direction of the base coordinate system through an inverse cosine function for a cosine value of the included angle between the Z-axis direction of the tool coordinate system and the Z-axis direction of the base coordinate system,
5. the tool tilt gravity compensation method of claim 1, wherein: the component force of the tool gravity along the axial direction of the tool is FgIn units of N, FgWhere m is the mass of the tool in kg, g is the acceleration of gravity 9.8N/kg, and θ is the angle between the axial direction of the tool and the direction of gravity.
6. A tool tilt gravity compensation method according to claim 3, wherein: the output force that the cylinder should impart to the tool is F ═ FContact-FgWherein F isContactIs a preset value of contact force in N.
7. The tool tilt gravity compensation method of claim 6, wherein: the control equipment comprises an electromagnetic directional valve, an electric proportional valve and a filtering pressure reducing valve, and compressed air sequentially passes through the filtering pressure reducing valve, the electric proportional valve and the electromagnetic directional valve and enters the air cylinder.
8. The tool tilt gravity compensation method of claim 7, wherein: the output direction of the cylinder comprises a positive direction and a negative direction;
when the output direction of the cylinder is positiveThe output force F of the tool is more than or equal to 0, ValveOUT＝0，ValveOUTA switching valve output (BOOL), the electromagnetic switching valve being in a positive pressure output state, a pressure output value P of the electric proportional valveOUT＝F/S+、POUTIn kPa, wherein said S is+Is the positive acting stress area of the cylinder with the unit of mm2；
When the output direction of the air cylinder is negative, the output force F of the tool is less than 0, and ValveOUT1, the electromagnetic directional valve is in a reverse pressure output state, and the pressure output value P of the electric proportional valveOUT＝-F/S-、POUTIn units of kPa, wherein S-Is the reaction force area of the cylinder with the unit of mm2。
9. A tool tilt gravity compensation method according to claim 3, wherein: the direction of the output force is parallel to the axial direction of the tool.
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| CN202011497176.4A CN112720466A (en) | 2020-12-17 | 2020-12-17 | Tool inclination angle gravity compensation method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894806A (en) * | 2021-10-20 | 2022-01-07 | 武汉理工大学 | Disc type polishing head-workpiece contact interface angle deviation estimation and compensation method |
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| CN107009389A (en) * | 2017-04-06 | 2017-08-04 | 沈阳埃克斯邦科技有限公司 | Integrated active constant-force compensation device |
| CN111531533A (en) * | 2020-04-14 | 2020-08-14 | 佛山市南海区广工大数控装备协同创新研究院 | Zero point correction and gravity compensation method for six-dimensional force sensor |
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2020
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| EP0016330A1 (en) * | 1979-03-19 | 1980-10-01 | International Business Machines Corporation | Manipulator provided with a gravity-compensating device |
| JPH07112148A (en) * | 1993-08-25 | 1995-05-02 | Mazda Motor Corp | Method for evaluating painting sag in painting and painting controller |
| JP2012115912A (en) * | 2010-11-29 | 2012-06-21 | Ihi Corp | Machining robot and gravity compensation method thereof |
| CN106891339A (en) * | 2017-02-10 | 2017-06-27 | 广东省智能制造研究所 | Polishing process and milling robot with gravity compensation |
| CN107009389A (en) * | 2017-04-06 | 2017-08-04 | 沈阳埃克斯邦科技有限公司 | Integrated active constant-force compensation device |
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