CN114074264B - Casting polishing control method of human-computer cooperation robot - Google Patents

Casting polishing control method of human-computer cooperation robot Download PDF

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CN114074264B
CN114074264B CN202010847346.0A CN202010847346A CN114074264B CN 114074264 B CN114074264 B CN 114074264B CN 202010847346 A CN202010847346 A CN 202010847346A CN 114074264 B CN114074264 B CN 114074264B
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robot
control
handle
grinding
workpiece
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CN114074264A (en
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纪柱
赵吉宾
李论
王阳
刘殿海
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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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
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • 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
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • 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
    • 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
    • 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
    • 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
    • B25J9/1689—Teleoperation
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Abstract

The invention relates to a man-machine cooperation robot casting polishing control method, which comprises the following steps of remotely operating a robot through two handles to polish a large casting: collecting coordinates of the translational handle, and then smoothing the collected coordinates; calculating the position offset of each axis of the robot according to the data of the handle, and controlling the robot motion by using the position offset as a control quantity to realize teleoperation control on the robot; during grinding, the tool is displaced in the Z direction in the workpiece coordinate system by Z control Controlling the contact force between the tool and the workpiece for controlling the quantity; when the grinding machine is used for grinding, the contact force between the tool and the workpiece is fed back to the hand of an operator in real time, so that the operator has an environmental immersion feeling in the grinding process. The invention can realize the remote operation grinding control of the robot, control and sense the contact force between the tool and the workpiece during grinding, realize the cleaning of any accessible position on the surface of a large casting, improve the grinding efficiency of the casting and improve the working environment of operators.

Description

Casting polishing control method of human-computer cooperation robot
Technical Field
The invention belongs to the technical field of polishing control of industrial robots, and particularly relates to a casting polishing control system of a human-computer cooperation robot.
Background
In casting production, casting cleaning is an indispensable key process, the number of domestic casting enterprises is about 2 thousands at present, the market scale is very large, but the enterprises still stay in the manual cleaning stage due to the low degree of mechanization and automation of the existing casting production enterprises. The polishing can produce a large amount of dust and the field operation environment is very noisy, if choose the manual cleaning mode for use, this kind of operation environment can cause very big harm to operating personnel healthy, especially when clearing up large-scale, heavy foundry goods, use this kind of manual cleaning mode to need a large amount of places, production efficiency is low, and casting surface quality also can not be guaranteed, and these problems are all seriously restricting the benign development of the chinese casting trade.
Because the robot can replace the people and work in adverse circumstances, all begin to adopt the robot to polish in a lot of fields that originally need artifical polishing, for example the polishing of hardware bathroom accessory, the polishing of aeroengine blade etc.. At present, the robot polishing usually adopts a teaching or off-line programming method to generate a robot polishing track and then polish a workpiece. However, large castings have the characteristics of many and scattered parts to be cleaned, large difference of parts to be cleaned between the castings, not all parts on the castings need to be cleaned, the castings to be polished on site are generally placed at random, and the like, and if a teaching method is adopted, each casting needs to be taught, so that a great amount of time and energy of operators are consumed, and polishing efficiency is low; the off-line programming method is difficult to build, firstly, the off-line programming method is difficult to build, a model of a workpiece to be polished can be built through scanning point cloud at present, then, the polishing track is planned according to the model, but a large number of point clouds need to be collected for a large casting, so that the post-processing is difficult, and secondly, for the large casting, the size of the model and the size of a real workpiece have a certain difference, so that the polishing track planning is wrong. Through the analysis of the robot polishing technology in the current stage, the current robot polishing technology is difficult to apply to large casting cleaning.
Disclosure of Invention
The robot casting cleaning control system has the advantages that a plurality of problems existing in artificial casting cleaning and the problem that the existing robot polishing technology is difficult to apply to large casting polishing are solved, a man-machine cooperation robot casting cleaning control system is achieved, human intelligence and robot efficiency are combined together, an operator remotely operates and controls the robot polishing casting in a cabin, polishing contact force is controlled and sensed, cleaning of any position of the surface of the large casting can be achieved, the operating environment of the operator is obviously improved, and polishing efficiency is improved.
The technical scheme adopted by the invention for realizing the purpose is as follows: a man-machine cooperation robot casting grinding control method comprises the following steps:
step 1: collecting coordinates of a translational handle in a motion space of the translational handle, and then smoothing the collected coordinates, wherein the translational handle is used as force sensing equipment for sensing contact force between a tool and a workpiece;
and 2, step: the controller calculates the position offset of each shaft of the robot according to the difference value of two adjacent coordinates of the translational handle and the signal of the rotary handle, and controls the robot to drive the polishing tool to move by taking the position offset as a control quantity, so that the teleoperation control of the robot is realized;
and 3, step 3: during the robot remote operation grinding control process, the grinding tool is arranged in the workpiece coordinate system B x Middle displacement Z along Z-axis direction control Automatically controlling the difference between the contact force between the grinding tool and the workpiece and a set value not to exceed an allowable upper error limit for a control quantity; or when the difference between the contact force and the set value is less than the lower error limit, the z is adjusted control As a manual single allowance in the negative Z-axis direction.
The method comprises the following steps of collecting coordinates of a translational handle in a motion space of the translational handle, and smoothing the collected coordinates, so that a track is more suitable for the motion of a robot, wherein the method comprises the following steps:
1) Setting a time interval and acquiring handle coordinates (Px, py and Pz);
2) Smoothing the collected handle coordinates (Px, py, pz) by using a filtering algorithm and storing the smoothed handle coordinates in a container;
3) And when the controller judges that the robot moves to the current target position, the previous handle coordinate in the storage container is cleared.
The filtering algorithm is a Kalman filtering algorithm.
The method comprises the following steps of calculating the position offset of each axis of the robot according to the difference value of two adjacent coordinates of the translational handle and the signal of the rotary handle, and controlling the motion of the robot by taking the position offset as a control quantity, thereby realizing the teleoperation control of the robot, and comprises the following steps:
1) First, the difference between the coordinates of the first two translational handles in the container is calculatedCalculating target offset (delta x, delta y, delta z) of three translational axes of the robot by combining the values (delta x, delta y, delta z) with a motion space scaling coefficient scale aim ,Δy aim ,Δz aim ) Comprises the following steps:
Figure BDA0002643518620000031
the target positions of the teleoperation robot are:
Figure BDA0002643518620000032
wherein (R) ax ,R ay ,R az ) Target position for robot motion, (R) x ,R y ,R z ) The current position of the robot when the target position is calculated;
2) Calculating the position offset (delta x) of three translational axes of the robot c ,Δy c ,Δz c )：
Firstly, the current position (R) of the robot in the process of moving to the target position is calculated mx ,R my ,R mz ) And target position (R) ax ,R ay ,R az ) A distance Δ L therebetween;
then calculating the offset of each translational axis of the robot;
and finally, controlling the robot to move, repeating the process to gradually approach the target position, and when the error between the target position and the robot is within an allowable range, starting to control the robot to move to the next target position by the control system.
3) The rotary handle has three rotational degrees of freedom, three rotating shafts of the robot are respectively controlled, and the position offset (delta a, delta b and delta c) of each rotating shaft of the robot is calculated according to the ratio of the signal of each shaft of the rotary handle in a preset range;
4) The calculated position deviation amount (delta x) c ,Δy c ,Δz c Δ a, Δ b, Δ c) as a control quantity controls the robot movement to a target position of the workpiece polishing surface.
The calculating of the position offset of the three translational axes of the robot comprises the following steps:
calculating the distance between the current position and the target position in the process that the robot moves to the target position:
Figure BDA0002643518620000041
wherein e x ＝R ax -R mx 、e y ＝R ay -R my 、e z ＝R az -R mz 。
The maximum distance of the single allowable movement of the robot is set as step l When Δ L > step l The position offset (delta x) of three translational axes of the robot c ,Δy c ,Δz c ) Respectively as follows:
Figure BDA0002643518620000042
when Delta L is less than or equal to step l The position offset (delta x) of three translational axes of the robot c ,Δy c ,Δz c ) Respectively as follows:
Figure BDA0002643518620000043
the calculating of the position offset of each rotating shaft of the robot includes:
when not rotated, the signal of each shaft of the rotating handle is in I 2 And I 3 In addition, the upper limit and the lower limit of the signal of each axis of the rotating handle are respectively I 1 And I 4 (ii) a If the signal of a certain rotating shaft of the rotating handle is I A The signal is filtered and then is I AF Maximum offset of robot rotation axis is step r If the position offset Δ a of the robot rotation axis a is:
Figure BDA0002643518620000044
similarly, the positional displacement amounts Δ B and Δ C of the robot rotation axis B and the rotation axis C are calculated.
During the grinding control process of the robot teleoperation, the grinding tool is arranged in a workpiece coordinate system B x Middle displacement Z along Z-axis direction control Controlling the difference between the contact force between the grinding tool and the workpiece and the set value not to exceed an allowable upper error limit for the control quantity, or controlling z to be smaller than an allowable lower error limit when the difference between the contact force and the set value is smaller than the allowable lower error limit control As a single allowable feeding amount in the Z-axis negative direction, the method includes the steps of:
when the grinding tool moves to a target position near the surface of the workpiece, the Z axis of the workpiece coordinate system of the robot is locked, namely the movement of the robot in the Z axis direction is not controlled by the translational handle any more;
zero force value F of triaxial force sensor by gravity compensation algorithm x0 、F y0 、F z0 Calibrating the gravity G of the tool at the tail end of the robot;
calculating the contact force F between the grinding tool and the workpiece in the Z direction of the workpiece coordinate system by combining the calibration result ze ；
Contact force F according to Z direction ze To the grinding tool in the workpiece coordinate system B x Middle displacement Z along Z-axis direction control Is calculated as z control For controlling the amount, the contact force between the grinding tool and the workpiece is controlled.
The displacement z control Comprises the following steps:
calculating Z-direction contact force F ze And Z-direction target contact force F aim Difference e between F Let the allowable range of the difference be [ Δ F ] min ,ΔF max ]；
When the difference e F Greater than Δ F max Then, the adjustment z is calculated according to the control algorithm control And the control quantity is used as the control quantity to be automatically adjusted along the positive direction of the Z axis;
when the difference e F Less than Δ F min Then, the adjustment z is calculated according to the control algorithm control Will z control As negative in the Z-axisAllowing the feeding amount once, and performing manual feeding grinding;
when the difference value is within the allowable range, the Z-direction contact force meets the requirement, and the adjustment amount Z is control 0, neither automatic adjustment nor manual feeding is performed.
In the teleoperation grinding process, the contact force between a tool and a workpiece is fed back to the hand of an operator in real time, and the teleoperation grinding process comprises the following steps:
a translational handle with a force feedback function is used as a force sensing device;
the force sensor is arranged at the tail end of the robot, and the gravity compensation and the zero force value compensation of the tool are carried out on the force signal fed back by the force sensor to obtain the contact force (F) between the tool and the workpiece xe ,F ye ,F ze ) Then divided by a scaling factor K as the perception (F) hapticX ,F hapticY ,F hapticZ )：
Figure BDA0002643518620000061
Will (F) hapticX ,F hapticY ,F hapticZ ) The control valve is used as a control quantity to control the force feedback handle, so that the tactile perception of casting grinding is realized.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention introduces the robot remote operation technology into the large casting polishing field, and solves the problem that the original robot polishing technology is difficult to be applied to large casting polishing;
2. the robot control system is simple to realize, and can realize control of 6 axes of the robot only by two three-axis handles;
3. the invention can realize the tactile perception of the casting during grinding, so that operators have the sense of environmental immersion;
4. the invention smoothes the track of the translational handle, so that the track is more suitable for the motion of the robot;
5. the invention can avoid the direct contact of the operator with the dust generated by polishing, thereby greatly improving the working environment of the operator;
6. the casting polishing machine has the advantages of large robot load, good flexibility and high movement speed, so that the casting polishing efficiency is remarkably improved.
Drawings
FIG. 1 is a control system architecture of the present invention;
fig. 2 is a structural diagram of a teleoperation system of a robot;
FIG. 3 is a diagram of a system configuration in which the difference between the contact force and the set value is greater than the upper limit of the allowable error;
FIG. 4 is a diagram of the system configuration when the difference between the contact force and the set value is less than the lower limit of the allowable error.
Detailed Description
The invention discloses a casting grinding control method of a robot-robot collaboration robot, which is further described in detail with reference to the accompanying drawings and embodiments.
The device adopted by the embodiment of the invention consists of 1 industrial robot, 1 robot translational axis control handle, 1 robot rotation axis control handle, 1 three-axis force sensor, 2 PLCs, 1 set of hydraulic system (grinding tool) and 1 upper computer control system.
The overall structure of the system is shown in figure 1, casting polishing control software of a human-computer cooperation robot is installed on an industrial personal computer, a network card of an upper computer is connected with a switch through a network cable, and the switch is connected with a PLC1, a PLC2 and a robot through the network cable. PLC1 and PLC2 are connected with a rotating handle, a three-axis force sensor and a hydraulic system (grinding tool) through analog quantity. And a USB interface of the upper computer is connected with the translational handle through a USB wire.
The method comprises the following steps: handle trajectory optimization procedure
The method comprises the following steps:
1) Collecting handle coordinates (Px, py, pz) once every delta t time;
2) Smoothing the acquired handle coordinates (Px, py, pz) by using a filtering algorithm, and smoothing the smoothed data (P) kx ,P ky ,P kz ) Respectively stored in containers Vx, vy and Vz;
3) When the controller judges the robot movementWhen the current target position is reached, clearing the previous numerical value in the three storage containers; the current target position is by handle coordinates (P) kx ,P ky ,P kz ) And (4) calculating.
In this embodiment, the omega.3 Force feedback handle manufactured by Force Dimension is selected as the translational handle, the handle has three degrees of freedom, three translational axes of the robot are respectively controlled, and coordinate data (Px, py, pz) of the handle are collected through an interface function provided by the handle.
In the present embodiment, the handle coordinate sampling period is Δ t =50ms, i.e., the handle coordinates are acquired every 50 ms.
In this embodiment, a kalman filter algorithm is selected to smooth the trajectory, and the algorithm is composed of three parts, namely, prediction, observation, and update, taking the smoothing of a certain dimension as an example:
x(k/k)＝x(k/k-1)+k(k)·(z(k)-x(k/k-1))
where x (k/k-1) is the predicted value for the dimension, z (k) is the observed value for the dimension, k (k) is the gain, and x (k/k) is the final estimate for the dimension.
Step two: teleoperation control process for robot position and attitude
1) Firstly, calculating the difference (delta x, delta y, delta z) of the first two coordinates in the containers Vx, vy and Vz, considering that the motion space of the translational handle is limited, so that in order to control the robot to move in a larger or smaller working space, the track of the handle is scaled, in the embodiment, the translational handle space scaling factor scale has four types of parameters of 0.5 time, 1.0 time, 2.0 time and 3.0 time for setting and switching, and the total target offset (delta x, delta y, delta z) of the three translational axes of the robot can be calculated by combining the difference (delta x, delta y, delta z) of the two adjacent coordinates and the motion space scaling factor scale aim ,Δy aim ,Δz aim ) Comprises the following steps:
Figure BDA0002643518620000081
the target positions of the teleoperation robot are:
Figure BDA0002643518620000082
wherein (R) ax ,R ay ,R az ) Target position for robot movement, (R) x ,R y ,R z ) Is the current position of the robot when calculating the target position.
2) Calculating the position offset (delta x) of three translational axes of the robot c ,Δy c ,Δz c )；
Firstly, the current position (R) of the robot in the process of moving to the target position is calculated mx ,R my ,R mz ) And target position (R) ax ,R ay ,R az ) And calculating the offset of each translational axis of the robot through a control algorithm, finally controlling the robot to move, repeating the process to gradually approach the target position, and when the error between the target position and the offset is within an allowable range, starting to control the robot to move to the next target position by a control system. In the present embodiment, the maximum single movement distance step of the robot l Can be set between 0.1mm and 0.6mm according to the current position (R) of the robot mx ,R my ,R mz ) And target position (R) ax ,R ay ,R az ) The distance between the two can be calculated as:
Figure BDA0002643518620000083
wherein e x ＝R ax -R mx 、e y ＝R ay -R my 、e z ＝R az -R mz 。
When Δ L > step l The position offset (delta x) of three translational axes of the robot c ,Δy c ,Δz c ) Respectively as follows:
Figure BDA0002643518620000091
when Delta L is less than or equal to step l The position offset (delta x) of three translational axes of the robot c ,Δy c ,Δz c ) Respectively as follows:
Figure BDA0002643518620000092
in the present embodiment, the target position is gradually approximated by the above method, and when the error from the target position is between (-0.1,0.1), the approximation to the next target position can be started.
3) In this embodiment, the rotary handle has three rotational degrees of freedom, controls three rotational axes of the robot, and provides analog signals in a range of 2mA to 14mA, and in a range of 7mA to 9mA when the rotary handle is not rotated, so I is set 1 ＝2mA，I 2 ＝7mA，I 3 ＝9mA，I 4 =14mA, the upper computer obtains an analog quantity signal of the handle through ModbusTCP communication with the PLC, and then calculates (delta a, delta b and delta c) according to the magnitude of the analog quantity signal, and the maximum offset step of the rotating shaft of the robot r It may be set between 0.005 and 0.020, taking one axis as an example: if the signal of a certain rotating shaft of the rotating handle is I A The signal is filtered and then is I AF If the position offset Δ a of the robot rotation axis a is:
Figure BDA0002643518620000093
the positional offsets Δ b, Δ c of the other two rotational axes of the robot can also be calculated in this way.
4) In this embodiment the robot tip is controlled to move in the object coordinate system (Δ x) by the sensor interface position correction function of the industrial robot c ,Δy c ,Δz c Δ a, Δ b, Δ c), robot teleoperation system structure diagram as shown in fig. 2, robot arrives after moving (R) mx ,R my ,R mz ,R ma ,R mb ,R mc )。
In the present embodiment, a control period is set every 4ms by the sensor interface communication function of the industrial robot.
Step three: robot casting polishing contact force adjusting process
1) The workpiece is quickly approached before grinding, when a grinding tool is very close to the workpiece, the Z axis of a workpiece coordinate system of the robot is locked, namely the motion of the robot in the Z axis direction is not controlled by a translational handle any more;
2) After locking, respectively controlling the positive feeding along the Z axis and the negative feeding along the Z axis of the robot by two feeding switches;
in this embodiment, the Z-axis lock switch is located on the software interface; in the embodiment, the two feeding switches are integrated with the rotating handle and positioned at the top end of the rotating handle, so that the feeding device is convenient for operators to use;
3) Zero force value F of triaxial force sensor by gravity compensation algorithm x0 、F y0 、F z0 Calibrating the gravity G of the tool at the tail end of the robot;
4) Calculating the contact force F between the grinding tool and the workpiece in the Z direction of the workpiece coordinate system by combining the calibration result ze ：
F ze ＝F z -F z0 -G z
Wherein F z Z-direction force signal fed back for force sensor, G z Is the component of the tool gravity in the Z direction;
5) According to Z-direction contact force F ze To the grinding tool in the workpiece coordinate system B x Middle displacement Z along Z-axis direction control And (3) calculating:
in the present embodiment, the target value F of the Z-direction contact force aim Set to 3000N, error upper bound Δ F max And lower error limit Δ F min Set to 100N and-100N, respectively.
In this embodiment, when | F ze -F aim When the contact force is greater than 100, calculating the contact force F in the current Z direction ze And F aim Difference e between F Then, a PD algorithm is used for calculating a control quantity Z along the Z-axis direction of the workpiece coordinate system control 。
z control ＝Kp·e F (k)+K D ·[e F (k)-e F (k-1)]
In this embodiment, when F ze -F aim When the control quantity is more than 100, the control quantity Z of the workpiece coordinate system in the Z-axis direction control Controlling the grinding tool to move along the Z axis of the workpiece coordinate system through the position correction function of the robot sensor interface, wherein the structure diagram of the system at the moment is shown in FIG. 3; when F is present ze -F aim When < -100, z control The system configuration at this time is shown in fig. 4 as a single feed amount by which the operator presses the feed switch.
In this embodiment the robot tip is moved in the object coordinate system by the sensor interface position correction function of the industrial robot by z control 。
In the present embodiment, a control period is set every 4ms by the sensor interface communication function of the industrial robot.
In addition, the real-time perception process of the grinding force
In this embodiment, the omega.3 translational handle used has a force feedback function, acting as a force feedback device;
in this embodiment, if the proportionality coefficient K is 500, the perceptive power is:
Figure BDA0002643518620000111
wherein (F) xe ,F ye ,F ze ) Is the contact force between the tool and the workpiece;
in this embodiment, the interface function provided through the force feedback handle is with perception input to the handle in, and the handle will produce resistance in corresponding direction and feel, and this kind of resistance is felt feedback in order to realize the perception to the power of polishing in operating personnel's hand for operating personnel has the environmental immersion and feels in the process of polishing.
The invention is best realized according to the above example. It is to be understood that any equivalent or obvious modifications made by those skilled in the art in the light of the present description are within the scope of the present invention.

Claims (9)

1. A casting grinding control method of a man-machine cooperation robot is characterized by comprising the following steps:
step 1: collecting coordinates of a translational handle in a motion space of the translational handle, and then smoothing the collected coordinates, wherein the translational handle is used as force sensing equipment for sensing the contact force between a tool and a workpiece;
step 2: the controller calculates the position offset of each shaft of the robot according to the difference value of two adjacent coordinates of the translational handle and the signal of the rotary handle, and controls the robot to drive the polishing tool to move by taking the position offset as a control quantity, so that the teleoperation control of the robot is realized;
and step 3: during the robot remote operation grinding control process, the grinding tool is arranged in the workpiece coordinate system B x Middle displacement Z along Z-axis direction control Automatically controlling the difference between the contact force between the grinding tool and the workpiece and a set value not to exceed an allowable upper error limit for a control quantity; or when the difference between the contact force and the set value is less than the lower error limit, the z is adjusted control As a manual single allowance in the negative Z-axis direction.
2. The casting grinding control method of the man-machine cooperation robot as claimed in claim 1, wherein coordinates of the translational handle in a motion space of the translational handle are collected, and then the collected coordinates are smoothed, so that a track is more suitable for the motion of the robot, and the method comprises the following steps:
1) Setting a time interval, and collecting handle coordinates (Px, py and Pz);
2) Smoothing the collected handle coordinates (Px, py, pz) by using a filtering algorithm and storing the smoothed handle coordinates in a container;
3) And when the controller judges that the robot moves to the current target position, clearing the previous handle coordinate in the storage container.
3. The human-computer cooperative robot casting grinding control method according to claim 2, wherein the filter algorithm is a kalman filter algorithm.
4. The casting grinding control method of the man-machine cooperation robot as claimed in claim 1, wherein the position offset of each axis of the robot is calculated according to the difference value of two adjacent coordinates of the translational handle and the signal of the rotary handle, and then the position offset is used as a control quantity to control the movement of the robot, so as to realize the teleoperation control of the robot, comprising the following steps:
1) Firstly, calculating the difference value (delta x, delta y, delta z) of the coordinates of the first two translational handles in the container, and calculating the target offset (delta x) of the three translational axes of the robot by combining a motion space scaling coefficient scale aim ,Δy aim ,Δz aim ) Comprises the following steps:
Figure FDA0003745411340000011
the target positions of the teleoperation robot are:
Figure FDA0003745411340000021
wherein (R) ax ,R ay ,R az ) Target position for robot motion, (R) x ,R y ,R z ) The current position of the robot when the target position is calculated;
2) Calculating the position offset (delta x) of three translational axes of the robot c ,Δy c ,Δz c )：
Firstly, the current position (R) of the robot in the process of moving to the target position is calculated mx ,R my ,R mz ) And target position (R) ax ,R ay ,R az ) A distance Δ L therebetween;
then calculating the offset of each translational axis of the robot;
finally, controlling the robot to move, repeating the process to gradually approach the target position, and when the error between the target position and the robot is within the allowable range, starting to control the robot to move to the next target position by the control system;
3) The rotary handle has three rotational degrees of freedom, three rotating shafts of the robot are respectively controlled, and the position offset (delta a, delta b and delta c) of each rotating shaft of the robot is calculated according to the ratio of the signal of each shaft of the rotary handle in a preset range;
4) The calculated position deviation amount (delta x) c ,Δy c ,Δz c Δ a, Δ b, Δ c) as a control quantity controls the robot movement to a target position of the workpiece polishing surface.
5. The casting grinding control method of the man-machine interaction robot as claimed in claim 4, wherein the calculating of the position offset of three translational axes of the robot comprises:
calculating the distance between the current position and the target position in the process that the robot moves to the target position:
Figure FDA0003745411340000022
wherein e x ＝R ax -R mx 、e y ＝R ay -R my 、e z ＝R az -R mz ；
The maximum distance of the single allowable movement of the robot is set as step l When Δ L > step l The position offset (delta x) of three translational axes of the robot c ,Δy c ,Δz c ) Respectively as follows:
Figure FDA0003745411340000023
when delta L is less than or equal to step l The position offset (delta x) of three translational axes of the robot c ,Δy c ,Δz c ) Respectively as follows:
Figure FDA0003745411340000031
6. the casting grinding control method of the man-machine interaction robot as claimed in claim 4, wherein the calculating of the position offset of each rotating shaft of the robot comprises:
when not rotated, the signal of each shaft of the rotating handle is in I 2 And I 3 In addition, the upper limit and the lower limit of the signal of each axis of the rotating handle are respectively I 1 And I 4 (ii) a If the signal of a certain rotating shaft of the rotating handle is I A After the signal is filtered, the signal is I AF Maximum offset of robot rotation axis is step r If the position offset Δ a of the rotation axis a of the robot is:
Figure FDA0003745411340000032
similarly, the positional displacement amounts Δ B and Δ C of the robot rotation axis B and the rotation axis C are calculated.
7. The human-machine interaction robot casting grinding control method of claim 1, wherein during the robot teleoperation grinding control process, the grinding tool is used in the workpiece coordinate system B x Middle displacement Z along Z-axis direction control Controlling the difference between the contact force between the grinding tool and the workpiece and the set value not to exceed an allowable upper error limit for the control amount, or controlling the z value to be smaller than a lower error limit when the difference between the contact force and the set value is smaller than the allowable lower error limit control As a single allowable feeding amount in the Z-axis negative direction, the method includes the steps of:
when the grinding tool moves to a target position near the surface of the workpiece, the Z axis of the workpiece coordinate system of the robot is locked, namely the movement of the robot in the Z axis direction is not controlled by the translational handle any more;
zero force value F of triaxial force sensor by gravity compensation algorithm x0 、F y0 、F z0 And robot endCalibrating the tool gravity G;
calculating the contact force F between the grinding tool and the workpiece in the Z direction of the workpiece coordinate system by combining the calibration result ze ；
Contact force F according to Z direction ze To the grinding tool in the workpiece coordinate system B x Middle displacement Z along Z-axis direction control Performing a calculation with z control For controlling the amount, the contact force between the grinding tool and the workpiece is controlled.
8. The human-computer cooperative robot casting grinding control method of claim 7, wherein the displacement z is control The calculation of (a), comprising:
calculating Z-direction contact force F ze Target contact force F with Z direction aim Difference e between F Let the allowable range of the difference be [ Δ F ] min ,ΔF max ]；
When the difference e F Greater than Δ F max Then, the adjustment z is calculated according to the control algorithm control And the control quantity is used as the control quantity to be automatically adjusted along the positive direction of the Z axis;
when the difference e F Less than Δ F min Then, the adjustment z is calculated according to the control algorithm control Will z control Performing manual feed grinding as a single allowable feed amount in the Z-axis negative direction;
when the difference value is within the allowable range, the Z-direction contact force meets the requirement, and the adjustment amount Z is control 0, neither automatic adjustment nor manual feeding is performed.
9. The human-computer cooperation robot casting grinding control method of claim 1, wherein the contact force between the tool and the workpiece is fed back to the hand of an operator in real time during the remote operation grinding process, and the method comprises the following steps:
a translational handle with a force feedback function is used as a force sensing device;
the force sensor is arranged at the tail end of the robot and used for carrying out tool gravity compensation on a force signal fed back by the force sensorAnd zero force value compensation, obtaining the contact force (F) between the tool and the workpiece xe ,F ye ,F ze ) Then divided by a scaling factor K as the perception (F) hapticX ,F hapticY ,F hapticZ )：
Figure FDA0003745411340000041
Will (F) hapticX ,F hapticY ,F hapticZ ) The control valve is used as a control quantity to control the force feedback handle, so that the tactile perception of casting grinding is realized.
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