CN115139298A - Method for reducing influence of robot vibration on material quantity increase - Google Patents
Method for reducing influence of robot vibration on material quantity increase Download PDFInfo
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- CN115139298A CN115139298A CN202210575304.5A CN202210575304A CN115139298A CN 115139298 A CN115139298 A CN 115139298A CN 202210575304 A CN202210575304 A CN 202210575304A CN 115139298 A CN115139298 A CN 115139298A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
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Abstract
The invention discloses a method for reducing the influence of robot vibration on additive material quantity, which is characterized in that any linear segment of a robot oscillation path generated by an additive material model along the swinging direction is equally divided into t segments; for any one straight line segment, sequentially calculating a Jacobian matrix of the robot at each point on the straight line segment by adopting a Jacobian matrix formula, and combining the shaft angle values of the robots at each point to obtain the shaft angle values of the robot in the whole oscillation path; and issuing the angles of all axes of the robot in the whole oscillation path to a robot controller, and controlling the robot to move along the oscillation path by the controller. By using the method, the vibration of the robot moving along the oscillation path in the material increase process can be obviously reduced, the defects of the material increase finished product caused by the vibration of the robot are reduced, and the material increase quality is obviously improved; in addition, the Jacobian matrix is used for optimizing each axis value of the robot, the method is suitable for various types of robots and robots with redundant degrees of freedom, and the method is more universal.
Description
Technical Field
The invention relates to a control method for an additive material quantity of a robot, and belongs to the technical field of additive manufacturing.
Background
The robot is used for additive manufacturing, and a welding gun is controlled to move by the robot to complete an additive manufacturing process, wherein oscillation paths are used in more additive manufacturing paths, and a common oscillation path is shown in fig. 1 and fig. 2. Because the oscillation path has more turning points, the robot has stronger vibration in the material increase process, thereby increasing the defects (such as air holes, cracks and the like) of the material increase finished product and obviously reducing the material increase quality.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for reducing the influence of robot vibration on the material increasing quantity, aiming at more turning points in an oscillation path, the invention optimizes each axis value of the robot at different point positions of the oscillation path by using a Jacobian matrix, so that the influence of the vibration of the robot on the material increasing quality is reduced in the material increasing process of the robot.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a method for reducing the influence of robot vibration on material increasing quantity comprises the following steps:
the method comprises the following steps that firstly, a robot oscillation path generated by a material adding model is divided into t sections equally along any straight line segment XY in the swinging direction to obtain t +1 points, namely points X, X +1, \ 8230and X + t, wherein the point X + t is superposed with a point Y;
step two, adopting a Jacobian matrix formula (1) to sequentially calculate robot Jacobian matrixes of each point on any straight line segment,
in the formula, J vi 、J ωi The elements in the Jacobian matrix respectively represent the relationship between the rotating speed of the joint i of the robot and the Cartesian speed and the angular speed of the tail end; n represents the number of axes of the robot, z i-1 Is the moving axis direction of the i-1 th joint; o i-1 、o i Is the origin coordinate of the i-1 th and i-th joint base coordinate system;
thirdly, according to the angle value theta of each axis of the current point X robot X Calculating the angle value theta of each axis of the next point X +1 robot X+1 ，
In the formula, theta X The angle value of each axis of the X-point robot is obtained; j (X) is a robot Jacobian matrix J (X) of X points; h is a total of XY Is the direction vector of any straight line segment XY; x is the distance between a point X +1 above and below the oscillation path and the oscillation central line MN; l. the X 、l X+1 Is the distance between the X point, the X +1 point and the oscillation central line MN; u, V and W are additive influence parameter weighted values;
step four, repeating the step two and the step three, and calculating the angle values of each axis of each point robot on all straight-line segments of the robot oscillation path along the swing direction in sequence to obtain the angle values of each axis of the robot of the whole oscillation path;
and fifthly, issuing the angle of each axis of the robot in the whole oscillation path to a robot controller, controlling the robot to move along the oscillation path by the controller, and controlling a welding gun to execute the additive manufacturing work according to the angle value of each axis.
Further, the values of the weighted values of the additive influence parameters U, V and W are U > W > V.
Further, values of weighted values U, V and W of additive influence parameters are related to arm extension and oscillation amplitude of the robot.
Further, when the robot arm is unfolded, the weight values U and W of the additive effect parameters are gradually increased and U is gradually decreased along with the increase of the oscillation amplitude of the oscillation path.
Further, when the oscillation amplitude of the robot oscillation path is the same, the additive impact parameter weight values U and W are gradually reduced along with the increase of the robot arm spread, and V is the same.
Further, the robot oscillation path is a sawtooth wave or a square wave.
The invention has the following beneficial effects:
by using the method, when the robot moves along the oscillation path, in the linear motion process along the oscillation direction, the oscillation speed is slower when the robot is closer to the maximum oscillation amplitude, so that the vibration of the robot moving along the oscillation path in the material increase process can be obviously reduced, the defect of a material increase finished product caused by the vibration of the robot is reduced, and the material increase quality is obviously improved; in addition, the invention uses the Jacobian matrix to optimize the values of all axes of the robot, can be suitable for various types of robots and robots with redundant degrees of freedom, and has more universality.
Drawings
FIG. 1 is an oscillation path employed in a robotic additive process;
FIG. 2 is another oscillation path employed in a robotic additive process;
FIG. 3 is a schematic illustration of the segmentation of the oscillation path of FIG. 1 using the method in the present embodiment;
fig. 4 is a schematic diagram of the segmentation of the oscillation path of fig. 2 by the method in the present embodiment.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
In the process of additive manufacturing, the robot calculates the motion values of all joint axes of the robot according to additive path points, and then adjusts all joint axes of the robot by using the obtained calculation result, so that the tail end of a welding wire of a welding gun controlled by the robot is attached to an additive track to move, and the additive task is completed. For the oscillation path, the robot is easy to generate larger vibration in the process of adjusting the joint axes, and the vibration of the robot in the additive manufacturing process is reduced by improving the motion values of the joint axes of the robot in the additive manufacturing process.
The method for reducing the influence of the vibration of the robot on the material increasing quantity comprises the following steps:
firstly, generating an oscillation path from the additive model by using the existing method, wherein the generated oscillation path is a sawtooth wave shown in fig. 1 or a square wave shown in fig. 2.
And step two, equally dividing each straight line segment along the swinging direction on the oscillating path into t segments, wherein t +1 points are total. In the two oscillation paths, the amplitude of the swing of each oscillation path is the same, so that the length of each straight line segment along the swing direction is also equal. After any straight line segment XY along the swinging direction is equally divided into t segments, t +1 points can be obtained, namely points X, X +1, \ 8230and X + t, wherein the point X + t is coincident with the point Y.
And step three, for any straight line segment XY, sequentially calculating the Jacobian matrix of the robot at each point on the straight line segment by adopting a Jacobian matrix formula (1).
In the formula, J vi 、J ωi The elements in the Jacobian matrix respectively represent the relationship between the rotating speed of the joint i of the robot and the Cartesian speed and the angular speed of the tail end; n represents the number of axes of the robot, z i-1 Is the moving axis direction of the i-1 th joint; o i-1 、o i Is the origin coordinate of the i-1 th and i-th joint base coordinate system.
Step four, according to the angle value theta of each axis of the current point X robot X Calculating the angle value theta of each axis of the next point X +1 robot X+1 ，
In the formula, theta X The angle value of each axis of the X-point robot is obtained; j (X) is a robot Jacobian matrix J (X) of X points; h is a total of XY Is the direction vector of any straight line segment XY; x is the distance between a point X +1 above and below the oscillation path and the oscillation central line MN; l. the X 、l X+1 Is the distance between the X point, the X +1 point and the oscillation central line MN; u, V, W are additive influence parameter weighted values, and are related to factors such as robot arm extension, oscillation amplitude and the like, and U is more than W and is more than V. When the arms of the robot are unfolded, the weighted values U and W of the additive influence parameters are gradually increased along with the increase of the oscillation amplitude of the oscillation path, and the weighted values U and W are gradually decreased. When the oscillation amplitude of the robot oscillation path is the same, the weighted values U and W of the additive influence parameters are gradually reduced along with the increase of the arm spread of the robot, and V is completely the same.
And fifthly, repeating the steps of the third step and the fourth step, sequentially calculating the angle value of each axis of the robot on each point on all the subsequent other straight line segments on the robot oscillation path, and obtaining the angle value of each axis of the robot on the whole oscillation path through the calculation, wherein the angle value of each axis of the robot at the first point on each straight line segment is calculated by using the result of the last point of the previous straight line segment.
And fifthly, issuing the result to a robot controller, controlling the robot to move along the oscillation path by the controller, and controlling a welding gun to execute the additive manufacturing work according to the angle value of each axis.
By using the method, when the robot moves along the oscillation path, in the linear motion process along the oscillation direction, the oscillation speed is slower when the robot is closer to the maximum oscillation amplitude, so that the vibration of the robot moving along the oscillation path in the material increase process can be obviously reduced, the defect of a material increase finished product caused by the vibration of the robot is reduced, and the material increase quality is obviously improved; in addition, the invention uses the Jacobian matrix to optimize the values of all axes of the robot, can be suitable for various types of robots and robots with redundant degrees of freedom, and has more universality.
Example 2
The method for reducing the influence of the robot vibration on the material increasing amount specifically comprises the following steps:
step one, generating an oscillation path for the additive model by using an existing method, wherein the generated oscillation path is as shown in fig. 1 or fig. 2.
And step two, equally dividing each straight line segment along the swinging direction on the oscillating path into t segments, wherein t +1 points are total. As shown in fig. 1 and fig. 2, in the two oscillation paths, the amplitude of the swing of each oscillation path is the same, and therefore, the length of each straight line segment along the swing direction is also the same. Taking the oscillation path of the sawtooth wave shown in fig. 1 as an example, t +1 points, namely a, can be obtained after a first straight line segment AB along the swinging direction is equally divided into t segments 1 ，A 2 ，…A t Of the center point A t Coinciding with point B as shown in fig. 3.
Similarly, as shown in the square wave oscillation path of fig. 2, the first straight line segment a ' B ' along the oscillation direction is equally divided into t equal parts to obtain t points, i.e., a ' 1 ，A′ 2 ，…A′ t Wherein A' t = B', as shown in fig. 4.
And thirdly, sequentially calculating a Jacobian matrix J (X) of the robot at each point on the first straight line section AB by adopting a Jacobian matrix formula.
In the formula, J vi 、J ωi The elements in the Jacobian matrix respectively represent the relationship between the rotating speed of the joint i of the robot and the Cartesian speed and the angular speed of the tail end; n represents the number of axes of the robot, z i-1 Is the moving axis direction of the i-1 th joint; o i-1 、o i Is the origin coordinate of the i-1 th and i-th joint base coordinate system.
Firstly, a robot Jacobian matrix J (A) of a first point, namely the point A is calculated,
calculating the next point A according to the angle value of each axis of the A-point robot according to the following formula 1 Angular value theta of each axis of robot of points 1 ，
In the formula, theta A The angle value of each axis of the robot is the A point, namely the angle value of each axis of the robot when the initial position is the A point, namely the degree of each axis of the robot is driven by each axis motor to rotate; j (A) is a robot Jacobian matrix J (A) of points A; j. the design is a square (A) -1 A generalized inverse matrix representing J (A); h is a total of AB Is the direction vector of the straight line segment AB; x is the distance between a point A1 above and below the oscillation path and the oscillation central line MN; l. the A 、l 1 Is A point, A 1 The distance between the point and the oscillation center line MN; A. b and C are additive influence parameter weighted values, and are related to factors such as robot arm extension, oscillation amplitude and the like.
In this embodiment, through test measurement fitting, specific values of weighted values U, V, and W of additive impact parameters when the arm extension and the oscillation amplitude of the robot are within a certain range are given, and in practice, reference table 1 may be consulted for selection.
TABLE 1 value-taking table for weight values U, V and W of additive influence parameters
The angle value of each axis of the robot at other subsequent points can be calculated by using the result of the previous point according to the following formula
In the formula, theta X Is the angle value of each axis of the X-point robot according toWhen the robot is at the initial position, the angle value of each axis of the robot can be sequentially deduced to the angle value of each axis of the robot at the next point; j (X) is a robot Jacobian matrix J (X) of X points; hXY is the direction vector of any straight line segment XY; x is the distance between a point X +1 above and below the oscillation path and the oscillation central line MN; l X 、l X+1 Is the distance between the X point, the X +1 point and the oscillation central line MN;
and step four, calculating other subsequent straight line segments on the oscillation path, wherein the calculation method is the same as that in the step three, and the angle value of each axis of the robot of the whole oscillation path can be obtained through the calculation. But the robot axis angle value of the first point on each straight line segment is associated with the result value of the last point of the previous straight line segment.
For example, when the oscillation path shown in fig. 3 is calculated as a sawtooth wave, the first point B of the second straight line segment BC coincides with the last point of the first straight line segment AB, and therefore, the robot axis angle value of the first point B on the second straight line segment BC is equal to the result of the last point B of the first straight line segment AB, which is the previous straight line.
When the oscillation path shown in fig. 4 is calculated as a square wave, the first point C 'of the second straight line segment C' D 'along the swing direction is calculated using the result of the last point B' of the previous straight line segment, i.e., the first straight line segment a 'B', i.e., the last point B 'of the first straight line segment a' B 'is regarded as the previous point of the first point C' of the second straight line segment C 'D'.
And fifthly, issuing the result to a robot controller, controlling the robot to move along the oscillation path by the controller, and controlling a welding gun to execute the additive manufacturing work according to the angle value of each axis.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A method for reducing the influence of robot vibration on material increasing quantity is characterized by comprising the following steps:
the method comprises the following steps that firstly, a robot oscillation path generated by a material adding model is divided into t sections equally along any straight line segment XY in the swinging direction to obtain t +1 points, namely points X, X +1, \ 8230and X + t, wherein the point X + t is superposed with a point Y;
step two, adopting a Jacobian matrix formula (1) to sequentially calculate the Jacobian matrix of the robot at each point on any straight line segment,
in the formula, J vi 、J ωi The elements in the Jacobian matrix respectively represent the relationship between the rotation speed of the joint i of the robot and the Cartesian speed and the angular speed of the tail end of the robot; n represents the number of axes of the robot, z i-1 Is the moving axis direction of the i-1 th joint; o i-1 、o i Is the origin coordinate of the i-1 th and i-th joint base coordinate system;
thirdly, according to the angle value theta of each axis of the X robot at the current point X Calculating the angle value theta of each axis of the next point X +1 robot X+1 ，
In the formula, theta X The angle value of each axis of the X-point robot is obtained; j (X) is a robot Jacobian matrix J (X) of X points; h is XY Is the direction vector of any straight line segment XY; x is the distance between a point X +1 above and below the oscillation path and the oscillation central line MN; l X 、l X+1 Is a point X,The distance between the X +1 point and the oscillation center line MN; u, V and W are additive influence parameter weight values;
step four, repeating the step two and the step three, and calculating the angle values of each axis of each point robot on all straight-line segments of the robot oscillation path along the swing direction in sequence to obtain the angle values of each axis of the robot of the whole oscillation path;
and fifthly, issuing the angle of each axis of the robot in the whole oscillation path to a robot controller, controlling the robot to move along the oscillation path by the controller, and controlling a welding gun to execute the additive manufacturing work according to the angle value of each axis.
2. The method of claim 1, wherein the weighting values of the additive material quality parameters are U > W > V.
3. The method for reducing the influence of robot vibration on the material adding quantity according to claim 1 or 2, wherein the values of the weighted values of the material adding influence parameters U, V and W are related to the arm spread and the oscillation amplitude of the robot.
4. The method as claimed in claim 3, wherein when the robot arm has the same extension, the weight values of the additive effect parameters U, W are gradually increased and U is gradually decreased as the oscillation amplitude of the oscillation path increases.
5. The method as claimed in claim 3, wherein when the oscillation amplitude of the oscillation path of the robot is the same, the weighting values of the additive effect parameters U and W are gradually decreased with the increase of the arm spread of the robot, and V is the same.
6. The method of claim 1, wherein the oscillating path of the robot is a sawtooth or square wave.
7. The method as claimed in claim 1, wherein in the third step and the fourth step, when the oscillation path of the robot is a sawtooth wave, the angle θ of each axis of the robot is determined according to the current point X X Calculating the angle value theta of each axis of the next point X +1 robot X+1 And when the robot angle value of the first point on each straight line section is equal to the robot angle value of the last point of the previous straight line section.
8. The method as claimed in claim 1, wherein in the third step and the fourth step, when the oscillation path of the robot is a square wave, the angle θ of each axis of the robot is determined according to the current point X X Calculating the angle value theta of each axis of the next point X +1 robot X+1 And calculating the angle value of each axis of the robot at the first point on each straight line segment, wherein the angle value of each axis of the robot at the last point of the previous straight line segment is adopted.
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