CN114580846B - Real-time processing path correction method combining vision and digital twinning - Google Patents
Real-time processing path correction method combining vision and digital twinning Download PDFInfo
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Abstract
The invention discloses a real-time processing path correction method combining vision and digital twinning, which comprises the following steps: a polishing unit is subjected to digital modeling; recording standard workpiece pose information: scanning and recording a standard workpiece, and marking the pose information of the standard workpiece; correcting the path of the workpiece: scanning and recording a processing workpiece, marking the pose information of the processing workpiece, comparing the pose information of the processing workpiece with the pose information of a standard workpiece to obtain a position deviation value of the same processing point of the processing workpiece and the standard workpiece, and correcting the path of the processing workpiece according to the deviation value; virtual and real synchronization of equipment; the digital twin body real-time analysis processing condition: feeding back and predicting whether to continue polishing at the current contact stress; verifying the path correction effect; the application aims to provide a real-time processing path correcting method combining vision and digital twinning, and solves the problem of processing defects caused by differences of poses, surface roughness and the like of a processing workpiece and a standard workpiece under the condition of a given robot processing path.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a real-time vision and digital twin combined machining path correction method.
Background
As one of the most common and most extensive basic production procedures in the manufacturing industry, the polishing and grinding industry has huge market demand, and the robot replaces manpower to perform polishing and grinding work, thereby improving the efficiency, the precision and the product quality uniformity, liberating the productivity and reducing the operation risk. However, the polishing of the robot has certain limitations, and most of the polishing of the robots at present adopts a position-speed control principle, namely, aiming at a determined polishing product, a polishing path and a motion speed of the robot are manually planned and tried out in advance. For a robot-loaded machining spindle, two drawbacks may occur in the case of a fixed workpiece operating condition:
defect one: under the condition that the processing path is determined, the putting pose of the workpiece to be polished deviates from the pose of the workpiece when the path of the robot is planned, so that polishing errors are caused;
and defect two: the roughness of the surface to be polished of each workpiece cannot be completely consistent for the same type and batch of workpieces, and the surface of the workpiece can be damaged due to excessive machining feed amount for some local surfaces with bulges or excessive burrs according to a given motion path.
Disclosure of Invention
The invention aims to provide a real-time vision and digital twin combined machining path correction method, which solves the problem of machining defects caused by differences of poses, surface roughness and the like of a machined workpiece and a standard workpiece under the condition of a given robot machining path.
In order to achieve the purpose, the invention adopts the following technical scheme: a real-time correction method for a visual and digital twin combined machining path comprises the following steps:
digital modeling of a polishing unit: establishing a polishing unit digital model according to polishing unit equipment;
recording standard workpiece pose information: scanning and recording a standard workpiece, analyzing and processing the recorded image information, and marking the pose information of the standard workpiece in the polishing unit digital model;
correcting the path of the workpiece: scanning and recording a processing workpiece, analyzing and processing the recorded image information, marking the position and attitude information of the processing workpiece in a grinding unit digital model, comparing the position and attitude information of the processing workpiece with the position and attitude information of a standard workpiece to obtain a position deviation value of the same processing point of the processing workpiece and the standard workpiece, and correcting the path of the processing workpiece according to the deviation value;
virtual and real synchronization of equipment: constructing a virtual-real synchronous equipment physical simulation platform by adopting a digital twinning technology;
the digital twin body real-time analysis processing condition: the method comprises the steps of giving physical attributes to a digital model of a grinding unit and a digital model of a grinding cutter, giving physical attributes to a digital model of a machined workpiece, simulating and analyzing contact stress between the digital model of the grinding cutter and the digital model of the machined workpiece, feeding back and predicting whether to continue grinding at the current contact stress;
verifying the path correction effect: and comparing the action of the polishing unit equipment with the action of the digital model of the digital twin body, and judging whether the path is successfully corrected in real time.
Preferably, in the step of digital modeling of the polishing unit, specifically, a digital model with a ratio of 1 to the polishing unit equipment is established according to the polishing unit equipment, and the polishing unit equipment is generated by a visual three-dimensional imaging method.
Preferably, in the recording of the pose information of the standard workpiece, specifically, for the robot processing path of the polishing unit device, in the path planning stage, the standard workpiece is scanned and recorded by using a visual three-dimensional imaging method, the generated three-dimensional image information is transmitted to the digital twin simulation platform for analysis and processing, and the pose information of the standard workpiece in the polishing unit digital model is marked.
Preferably, the pose information includes six-axis angles of the standard workpiece, including Location (x, y, z) and Rotation (x, y, z).
Preferably, in the step of correcting the path of the workpiece, specifically, for the robot processing path of the polishing unit device, in the path planning stage, the processing workpiece is scanned and recorded by using a visual three-dimensional imaging method, the generated three-dimensional image information is transmitted to the digital twin simulation platform for analysis and processing, the pose information of the processing workpiece in the polishing unit digital model is marked, the pose information of the processing workpiece is compared with the pose information of the standard workpiece, a position deviation value of a processing point where the pose information of the processing workpiece is the same as the pose information of the standard workpiece is obtained, the path of the workpiece is corrected according to the deviation value, and the corrected path is fed back to the polishing unit device.
Preferably, in the virtual-real synchronization step of the equipment, the digital model, the control script and the communication interface are packaged in a unified manner, so that communication between the model and the equipment is facilitated by using a standard interface, a virtual control network is built, a virtual-real synchronous equipment physical simulation platform is built by adopting a digital twinning technology, and a synchronous control and sensing channel between the polishing unit equipment and the virtual digital model is built by using the communication interface, so that the polishing unit equipment and the corresponding digital model can communicate and act synchronously in real time.
Preferably, in the step of analyzing the real-time processing condition of the digital twin body, the digital model of the grinding tool is endowed with physical attributes including quality, material or roughness attributes, the digital model of the processing workpiece is endowed with physical attributes including quality, material or roughness attributes, the contact stress between the digital model of the grinding tool and the digital model of the processing workpiece is simulated and analyzed, whether the current path is used for continuous grinding to cause damage to the surface of the processing workpiece due to overlarge feeding amount is judged, if the current path is not used for continuous processing, if the surface of the processing workpiece is damaged, the current grinding feeding amount is divided into a plurality of sections of grinding feeding amounts, a mode of grinding for multiple times instead of one-time grinding is adopted, the locally modified processing path data is transmitted back to a controller of grinding unit equipment, so that 'virtual control and real' are realized, and damage to the workpiece is avoided.
Preferably, in the step of verifying the path correction effect, the grinding tool and the processing workpiece of the grinding unit device are scanned at the same time interval by using a visual three-dimensional imaging method, image data are obtained and transmitted to the simulation platform in real time, the image data of the grinding unit device and the image data of the digital twin body are compared on the simulation platform, and if the image data are completely consistent or have a high similarity after comparison, the robot processing path is considered to be successfully corrected in real time.
The technical scheme of the invention has the beneficial effects that: the method and the device utilize a visual three-dimensional imaging technology to obtain the actual conditions of the standard workpiece pose, the machined workpiece pose and the surface, complete synchronization with the working process of actual polishing unit equipment under the condition of completing data transmission without delay through a digital twin technology, continuously correct the machining path of the set polishing unit equipment through real-time data analysis and calculation of a digital model established by the digital twin technology in the machining process, generate a corrected machining path, synchronously transmit new machining path data to the polishing unit equipment, and realize real-time correction of the path in polishing and polishing of the polishing unit equipment.
The invention solves the problem of processing defects caused by the difference between the pose, the surface roughness and the like of a workpiece to be processed and a standard workpiece during path planning of the polishing unit equipment under the condition of a processing path of the polishing unit equipment.
Drawings
FIG. 1 is a schematic representation of the steps of one embodiment of the present invention;
FIG. 2 is a schematic diagram of path correction according to one embodiment of the present invention;
FIG. 3 is a first analysis of process conditions according to an embodiment of the present invention;
FIG. 4 is a second analysis of the process conditions according to one embodiment of the present invention;
FIG. 5 is a diagram illustrating a path correction procedure according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 5, a method for real-time correction of a visual and digital twin combined machining path includes the following steps:
digital modeling of a polishing unit: establishing a polishing unit digital model according to polishing unit equipment;
recording standard workpiece pose information: scanning and recording a standard workpiece, analyzing and processing the recorded image information, and marking the pose information of the standard workpiece in the polishing unit digital model;
correcting the path of the workpiece: scanning and recording the processing workpiece, analyzing and processing the recorded image information, marking the pose information of the processing workpiece in the polishing unit digital model, comparing the pose information of the processing workpiece with the pose information of the standard workpiece to obtain the position deviation value of the same processing point of the processing workpiece and the standard workpiece, and correcting the path of the processing workpiece according to the deviation value;
virtual and real synchronization of equipment: constructing a virtual-real synchronous equipment physical simulation platform by adopting a digital twinning technology;
the digital twin body real-time analysis processing condition: the method comprises the steps of giving physical attributes to a digital model of a grinding unit and a digital model of a grinding cutter, giving physical attributes to a digital model of a machined workpiece, simulating and analyzing contact stress between the digital model of the grinding cutter and the digital model of the machined workpiece, feeding back and predicting whether to continue grinding at the current contact stress;
verifying the path correction effect: and comparing the action of the polishing unit equipment with the action of the digital model of the digital twin body, and judging whether the path is successfully corrected in real time.
The method and the device utilize a visual three-dimensional imaging technology to obtain the actual conditions of the standard workpiece pose, the machined workpiece pose and the surface, complete synchronization with the working process of actual polishing unit equipment under the condition of completing data transmission without delay through a digital twin technology, continuously correct the machining path of the set polishing unit equipment through real-time data analysis and calculation of a digital model established by the digital twin technology in the machining process, generate a corrected machining path, synchronously transmit new machining path data to the polishing unit equipment, and realize real-time correction of the path in polishing and polishing of the polishing unit equipment.
The invention solves the problem of processing defects caused by the difference between the pose, the surface roughness and the like of a workpiece to be processed and a standard workpiece during path planning of the polishing unit equipment under the condition of a processing path of the polishing unit equipment.
Interpretation of terms in this application: digital twinning technique: the method fully utilizes data such as a physical model, sensor updating, operation history and the like, integrates a multidisciplinary, multi-physical quantity, multi-scale and multi-probability simulation process, and finishes mapping in a virtual space so as to reflect the full life cycle process of corresponding entity equipment, and is also called as digital mirror image, digital twins or digital mapping.
Virtual-real synchronization: the PLC is used as a bridge, communication channels among three-dimensional simulation, an equipment model, a real PLC and configuration software are established, interconnection and intercommunication of data and information are achieved, real-time synchronization of real-time data, configuration monitoring data and three-dimensional virtual simulation data of the equipment is achieved through a two-channel synchronization technology of downlink instructions and uplink information, and interaction and synchronization among data executed in a virtual workshop, a real workshop, field monitoring data and an MES system are achieved.
In the digital modeling step of the polishing unit, specifically, a digital model with a polishing unit device ratio of 1 is built according to the polishing unit device, and the polishing unit device is generated by a visual three-dimensional imaging method.
Establishing a digital model of the polishing unit equipment, wherein the digital model comprises a mechanical arm model and a mechanical arm moving part model, and the mechanical arm model adopts a general three-dimensional CAD model and has a clear and specific product structure; the mechanical arm moving part model can independently represent and mark, and carries out classified modeling on the moving part and the fixed part to complete the three-dimensional modeling of the corresponding polishing unit equipment. An accurate digital model is established for the actually used polishing unit equipment, and a foundation is laid for a digital twinning technology. And (3) according to the actual layout of the polishing unit equipment, introducing all the digital models into a DTS digital twin simulation platform, wherein the polishing unit digital models are consistent with field objects, including the consistency of the polishing unit digital models and the consistency of the relative positions of the equipment and the equipment.
The invention provides a visual three-dimensional imaging method based on a fixed imaging eye-hand mode, and belongs to an active triangulation method in scanning 3D imaging.
Preferably, in the recording of the pose information of the standard workpiece, specifically, for the robot processing path of the polishing unit device, in the path planning stage, the standard workpiece is scanned and recorded by using a visual three-dimensional imaging method, the generated three-dimensional image information is transmitted to the digital twin simulation platform for analysis and processing, and the pose information of the standard workpiece in the polishing unit digital model is marked.
Scanning and recording a standard workpiece by a visual three-dimensional imaging method, scanning the standard workpiece by an active triangulation method in scanning 3D imaging to generate a point cloud file of the surface of the standard workpiece, wherein the point cloud is a three-dimensional point set drawn on x, y and z coordinates, the denser the point cloud is, the higher the model precision is, and the obtained point cloud file is transmitted to a digital twin simulation platform for processing.
Because the point cloud file cannot be directly used, points in the point cloud file need to be interpolated to form a closed surface, so that the generated model surface has the same appearance as a standard workpiece, and then the closed surface is filled and converted into a universal 3D file format, such as an obj format and the like.
Preferably, the pose information includes six-axis angles of the standard workpiece, including Location (x, y, z) and Rotation (x, y, z).
For recording the pose information of the standard workpiece, the coordinates of the points in the point cloud files are actually recorded, and the pose information comparison mentioned in the application is to compare the coordinates of the points in the two point cloud files.
Specifically, in the step of correcting the path of the workpiece, the robot processing path of the polishing unit device is scanned and recorded by using a visual three-dimensional imaging method in a path planning stage, the generated three-dimensional image information is transmitted to a digital twin simulation platform for analysis and processing, the pose information of the processed workpiece in the polishing unit digital model is marked, the pose information of the processed workpiece is compared with the pose information of the standard workpiece, a position deviation value of a processing point is obtained, the position deviation value is the same as the pose information of the standard workpiece, the path of the workpiece is corrected according to the deviation value, and the corrected path is fed back to the polishing unit device.
Preferably, in the virtual-real synchronization step of the equipment, the digital model, the control script and the communication interface are packaged in a unified manner, so that communication between the model and the equipment is facilitated by using a standard interface, a virtual control network is built, a virtual-real synchronous equipment physical simulation platform is built by adopting a digital twinning technology, and a synchronous control and sensing channel between the polishing unit equipment and the virtual digital model is built by using the communication interface, so that the polishing unit equipment and the corresponding digital model can communicate and act synchronously in real time.
Specifically, in the step of analyzing the processing condition of the digital twin body in real time, the digital model of the grinding tool is endowed with physical attributes including quality, material or roughness, the digital model of the processing workpiece is endowed with physical attributes including quality, material or roughness, the contact stress between the digital model of the grinding tool and the digital model of the processing workpiece is simulated and analyzed, whether the damage to the surface of the processing workpiece caused by the overlarge feeding amount can be judged according to the current path, if the damage to the surface of the processing workpiece cannot be caused, the processing is continued, if the damage to the surface of the processing workpiece is caused, the current grinding feeding amount is divided into a plurality of sections of grinding feeding amounts, a mode of grinding for a plurality of times instead of one-time grinding is adopted, the locally modified processing path data is transmitted back to a controller of grinding unit equipment, so that 'virtual control real' is realized, and the damage to the workpiece is avoided.
In the path of the corrected workpiece, the problem of polishing errors caused by the position and posture deviation of the processed workpiece and a standard workpiece is solved, virtual-real synchronization is constructed between the digital twin body and polishing unit equipment, the processing condition is analyzed in real time, and in the processing process, whether protrusions exist on the surface of the processed workpiece or whether burrs are too large is judged through the digital twin model and the contact stress between the polishing tool and the processed workpiece. For some convex or burr-too-large processing surfaces, if the surface of the workpiece can be damaged due to too large processing feeding amount according to a fixed motion path, the synchronization between the digital twin model and the grinding unit equipment depends on the transmission of data, and the lower the data transmission delay, the better the virtual-real synchronization effect. Under the most ideal condition, the data transmission delay time is 0, so that the virtual-real synchronization in the real sense and the complete consistency of virtual-real actions can be realized, and the digital twin model can simulate the actual processing condition in multiple directions.
The DTS digital twin Simulation platform is internally provided with a finite element Simulation module Simulation, the contact stress between a grinding tool and a digital model of a processing workpiece is simulated, the digital model of the grinding tool and the digital model of the processing workpiece have physical properties such as material quality, roughness and the like, and the motion paths and the speeds of a digital twin body and grinding unit equipment are completely consistent, so that the stress analysis of the digital twin body can be regarded as the real-time stress state of the grinding unit equipment, the digital model of the grinding tool is taken as a force application object, the digital model of the grinding workpiece is taken as a stress object, the digital Simulation module integrated by the digital twin Simulation platform is used for gridding the digital model of the workpiece, the stress condition of each grid unit is analyzed when the grinding tool is in contact with the workpiece, the stress state of each position on the workpiece is obtained, when the root of a bulge or burr on the workpiece reaches the fracture critical stress, the grinding feed amount is changed in real time, the grinding path is modified in a mode of one-time grinding, and the locally modified processing path is returned to a robot controller.
For example: assuming that 2 protrusions on a workpiece need to be ground, called protrusion one and protrusion two, the first case: when the fixture sanded the bumps, it was found that the stress was radiated away from the contact point (the farther away from the contact point, the less stress). At this time, if the stress of the root of the protrusion is 1Mpa, and the critical fracture stress of the material under the current structure is 0.8Mpa, the fracture may be caused by continuous processing, and one-time grinding needs to be changed into multiple times of grinding (the feeding amount is reduced);
in the second case: when the second bulge is polished, the same analysis as the above is carried out, at the moment, the stress at the root of the second bulge is 1Mpa, and the critical fracture stress is 1.2Mpa, so that the workpiece cannot be damaged when the second bulge is continuously machined.
Preferably, in the step of verifying the path correction effect, the grinding tool and the processing workpiece of the grinding unit device are scanned at the same time interval by using a visual three-dimensional imaging method, image data are obtained and transmitted to the simulation platform in real time, the image data of the grinding unit device and the image data of the digital twin body are compared on the simulation platform, and if the image data are completely consistent or have a high similarity after comparison, the robot processing path is considered to be successfully corrected in real time.
In the step of recording the pose information of the standard workpiece, in order to eliminate the pose deviation between the machined workpiece and the standard workpiece, the established machining path of the robot is corrected for the first time, and in the step of analyzing the machining condition of the workpiece in real time by the digital twin body, the situation of locally adjusting the machining path for many times may exist in the process of analyzing the machining condition of the workpiece. Namely, in the machining process, the machining path of the robot in the digital twin body is corrected, the action presented in the digital twin body is the final 'solution', only the equipment action of the polishing unit equipment is compared with the digital model action of the digital twin body, and if the 'virtual' action is completely consistent with the 'real' action, the 'virtual control real' is proved to be successful, and the robot path is successfully corrected. The adjustment of the processing path scheme is to transmit new path information back to the robot controller in real time after the adjustment is completed in the digital twin body, so as to achieve the purpose of correcting the processing path of the robot in real time, and the real-time correction effect is presented through the visual three-dimensional imaging technology.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (6)
1. A real-time correction method for a visual and digital twin combined machining path is characterized by comprising the following steps:
digital modeling of a polishing unit: establishing a digital model with the proportion of 1 to the polishing unit equipment according to the polishing unit equipment, wherein the polishing unit equipment is generated by a visual three-dimensional imaging method;
recording standard workpiece pose information: scanning and recording a standard workpiece, analyzing and processing the recorded image information, and marking the pose information of the standard workpiece in the polishing unit digital model;
correcting the path of the workpiece: scanning and recording the processing workpiece, analyzing and processing the recorded image information, marking the pose information of the processing workpiece in the polishing unit digital model, comparing the pose information of the processing workpiece with the pose information of the standard workpiece to obtain the position deviation value of the same processing point of the processing workpiece and the standard workpiece, and correcting the path of the processing workpiece according to the deviation value;
virtual and real synchronization of equipment: constructing a virtual-real synchronous equipment physical simulation platform by adopting a digital twinning technology;
the digital twin body real-time analysis processing condition: the method comprises the steps of giving physical attributes to a digital model of a grinding unit and a digital model of a grinding cutter, giving physical attributes to a digital model of a machined workpiece, simulating and analyzing contact stress between the digital model of the grinding cutter and the digital model of the machined workpiece, feeding back and predicting whether to continue grinding at the current contact stress;
in the step of analyzing the processing condition of the digital twin body in real time, endowing physical attributes including endowing quality, material or roughness attributes to a digital model of a grinding tool, endowing physical attributes including endowing quality, material or roughness attributes to a digital model of a processing workpiece, simulating and analyzing contact stress between the digital model of the grinding tool and the digital model of the processing workpiece, judging whether the current path is used for continuous grinding to cause damage to the surface of the processing workpiece due to overlarge feeding amount, if not, continuing processing, and if the surface of the processing workpiece is damaged, dividing the current grinding feeding amount into a plurality of sections of grinding feeding amounts, adopting a mode of grinding for a plurality of times to replace one-time grinding, returning the processing path data modified locally to a controller of grinding unit equipment, realizing 'virtual control real' and avoiding damage to the workpiece;
verifying the path correction effect: and comparing the action of the polishing unit equipment with the action of the digital model of the digital twin body, and judging whether the path is successfully corrected in real time.
2. The method for correcting the machining path in real time by combining vision and digital twinning as claimed in claim 1, wherein in the step of recording pose information of the standard workpiece, in particular to the robot machining path of the polishing unit device, in the path planning stage, the standard workpiece is scanned and recorded by using a vision three-dimensional imaging method, the generated three-dimensional image information is transmitted to a digital twinning simulation platform for analysis and processing, and the pose information of the standard workpiece in the digital model of the polishing unit is marked.
3. The vision and digital twinning combined machining path real-time correction method as claimed in claim 2, characterized in that the pose information comprises six-axis angles of a standard workpiece, including Location (x, y, z) and Rotation (x, y, z).
4. The method for correcting the machining path in real time by combining the vision and the digital twin according to claim 1, wherein in the step of correcting the path of the machined part, specifically for the machining path of the robot of the grinding unit device, in the path planning stage, the machined workpiece is scanned and recorded by using a visual three-dimensional imaging method, the generated three-dimensional image information is transmitted to a digital twin simulation platform for analysis and processing, the pose information of the machined workpiece in the digital model of the grinding unit is marked, the pose information of the machined workpiece is compared with the pose information of the standard workpiece, a position deviation value of a machining point is obtained, the position deviation value of the machined point is the same as the pose information of the standard workpiece, the path of the machined part is corrected according to the deviation value, and the corrected path is fed back to the grinding unit device.
5. The real-time processing path correcting method combining vision and digital twinning as claimed in claim 1, wherein in the step of virtual-real synchronization of the equipment, a digitalized model, a control script and a communication interface are packaged uniformly, so that communication between the model and the equipment is facilitated by using a standard interface, a virtual control network is built, a virtual-real synchronized equipment physical simulation platform is built by using a digital twinning technology, and a synchronous control and sensing channel between the polishing unit equipment and the virtual digitalized model is built by using the communication interface, so that the polishing unit equipment and the corresponding digitalized model can be synchronized in real-time communication and action.
6. The method for real-time correction of a machining path by combining vision and digital twinning as claimed in claim 1, wherein in the step of verifying the effect of path correction, the grinding tool and the workpiece of the grinding unit equipment are scanned at the same time interval by using a vision three-dimensional imaging method, image data are obtained and transmitted to the simulation platform in real time, the image data of the grinding unit equipment and the image data of the digital twinning are compared on the simulation platform, and if the image data are completely consistent or have a high similarity after comparison, the real-time correction of the machining path of the robot is considered to be successful.
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