CN116197796A - Robot polishing path compensation method and device, electronic equipment and storage medium - Google Patents
Robot polishing path compensation method and device, electronic equipment and storage medium Download PDFInfo
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- CN116197796A CN116197796A CN202310241340.2A CN202310241340A CN116197796A CN 116197796 A CN116197796 A CN 116197796A CN 202310241340 A CN202310241340 A CN 202310241340A CN 116197796 A CN116197796 A CN 116197796A
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application discloses a robot polishing path compensation method, a robot polishing path compensation device, electronic equipment and a storage medium. The method comprises the steps of: s1, adjusting a robot tool coordinate system; s2, searching a polishing starting point P 0 The method comprises the steps of carrying out a first treatment on the surface of the S3, determining a polishing starting point and a polishing workpiece coordinate system, so that the robot can execute polishing work according to the new workpiece coordinate; s4, collecting single data of the power control system module by the period time T d Time T of single data scanning cycle with robot system R Unifying time sequences to obtain compensation cycle time; s5, feeding back the collected position and angle information of the force control system module to the polishing robot control module in each compensation period time to calculate a polishing starting point P of the robot 0 The difference value of the position and the angle of the force control system module recorded at the time is taken as a compensation value to be disassembled in equal quantityAnd after that, sequentially inputting the positions and angles of the robot paths into a robot control module for gradually adjusting the positions and angles of the robot paths in the next compensation period time, and performing constant-force polishing on the polished workpiece.
Description
Technical Field
The present disclosure relates to the field of automatic polishing technologies, and in particular, to a robot polishing path compensation method, a robot polishing path compensation device, an electronic device, and a storage medium.
Background
Aiming at large workpieces with curved surfaces to be polished, manual polishing is adopted, the labor intensity is high, the polishing efficiency is low, the consistency of polishing effects is difficult to ensure, and particularly in places with curved surfaces excessive, the radius of gyration of the curved surfaces cannot be controlled accurately manually, so that the polishing effects are finally affected. Therefore, at present, an industrial robot is often adopted to polish a workpiece instead of manual polishing, so that polishing quality and polishing efficiency can be effectively improved. However, the polishing force control in the automatic polishing process of the robot has great influence on the polishing effect, and the uniform polishing of the surface of the workpiece is realized by adopting a constant force output method at present, but when the surface of the workpiece fluctuates greatly, the effective control range of the constant force output system is exceeded, and the working path of the robot is required to be adjusted at the moment so as to ensure that the constant force output system works in an effective and optimal range. The existing method for adjusting the polishing path of the robot is quite a lot, but the executable range and the condition of the path adjustment of the robot are not considered, when the single adjustment amount of the path of the robot is overlarge, the robot has the shaking condition in the polishing working process, the consistency of the polishing effect of the surface of a workpiece is directly affected, and the service life of the robot is also reduced.
Disclosure of Invention
In one aspect, the present application provides a method for compensating a polishing path of a robot, so as to solve the technical problem of robot shake caused by overlarge adjustment amount of the path of the robot when the polishing path of the robot is adjusted in the prior art.
The technical scheme adopted by the application is as follows:
a robot polishing path compensation method comprises the following steps:
s1, before automatic polishing, adjusting a robot tool coordinate system to enable an angle XYZ of the robot tool coordinate system to coincide with an angle gamma beta alpha of a feedback coordinate system of a force control system module;
s2, after the robot rapidly runs to a searching point, slowly searching the workpiece along the Z-axis direction of a coordinate system of the robot, recording the current position and angle information of the robot when receiving an optimal position feedback signal of a force control system module, and taking the current position as a polishing starting point P 0 And simultaneously recording the position and angle information of the force control system module;
s3, determining a polishing starting point and a polishing workpiece coordinate system, and calculating a robot polishing starting point P 0 And a preset track start point P 10 Translating the workpiece coordinates according to the deviation amount and the direction, and updating the workpiece coordinates of the polishing program to enable the robot to execute polishing work according to the new workpiece coordinates;
S4, in the polishing process, the force control system module is subjected to single-time data acquisition cycle time T d Time T of single data scanning cycle with robot system R Timing sequence unification is carried out to obtain the compensation period time T of the system f ；
S5, feeding back the collected position and angle information of the force control system module to the polishing robot control module in each compensation period time to calculate a polishing starting point P of the robot 0 The difference value of the position and the angle of the force control system module recorded at the time is used as a compensation value, and the single data scanning cycle time T of the robot system is used as a compensation value R And after the compensation values are split in equal quantity, the compensation values are sequentially input into a robot control module, and the robot control module is used for gradually adjusting the position and the angle of a robot path in stages in the next compensation period time, so that the force control system module performs constant-force polishing on the polished workpiece in the optimal position and angle range.
Further, in step S4, the compensation cycle time T f The method comprises the following steps:
T f ＝n*T d ＝m*T R
wherein n and m are multiples.
Further, in step S5, the step of equally splitting the compensation value according to the single data scanning cycle time of the robot system specifically includes:
according to single data scanning cycle time T of robot system R The compensation value is split into m equal parts.
Further, the step S5 specifically includes the steps of:
s51, acquiring cycle time T according to single time of the force control system module d The position and angle information of the force control system module is collected in real time, and all the position and angle information of the force control system module collected in the j-1 th compensation period are stored in the system data processing module;
s52, averaging the position and angle information of all the acquisition force control system modules acquired in the j-1 th compensation period, and calculating the average value and the polishing starting point P 0 The difference value of the position and angle information of (2) is used as a compensation value delta L;
s53, scanning cycle time T according to single times of the robot system R Equally dividing the compensation value delta L into m parts, wherein the divided compensation value delta L/m is used for compensating the Z axis and the XY direction of the robot tool coordinate in the next compensation period;
s54, when the polishing robot runs to the jth compensation period, the upper computer sequentially transmits the split compensation value delta L/m to the robot control module according to m times, and the time period of transmitting the split compensation value delta L/m each time is equal to the single time scanning period time T of the robot system R ；
S55, the robot control module scans the cycle time T according to single times of the robot system R Receiving the compensation value m times, receiving the split compensation value delta L/m each time, and calculating m times to obtain a robot compensated track motion target point;
s56, the robot control module controls the robot to move towards the target track x at time t ’ Motion, single data scanning cycle time T in each robot system R The movement to the new trajectory point is performed once, and m times in total are performed in the j-th compensation period.
Further, before the step S52 of averaging, the method further includes the steps of:
and (3) carrying out Gaussian filtering processing on the position and angle information of all the acquisition force control system modules acquired in the j-1 compensation period, removing salt and pepper noise points, and reducing signal interference in the polishing process.
Further, in S55, each time the resolved compensation value Δl/m is received, and m times of computation are performed to obtain the compensated trajectory motion target point of the robot, which specifically includes the steps of:
s551, setting the tool coordinate system of the robot as { A }, the workpiece coordinate system of the robot as { B }, and passing the split compensation value delta L/m through an equivalent rotation matrix
Position and posture data of the robot path to be compensated in Cartesian space are converted:
ΔP j ＝(Δx j-1 ，Δy j-1 ，Δz j-1 ，ΔW j-1 ，ΔP j-1 ，ΔR j-1 )；
s552, in the previous compensation period, the position and the posture data of the end point of the robot under the Cartesian space workpiece coordinate system 
And integrating the compensation data delta P sent by the upper computer system j The position and the posture of the moving object of the robot are recalculated, so that the polishing path of the robot is adjusted by>
Further, the step S56 further includes the steps of:
and (3) repeating the steps S51-S53 while executing the movement to the new track point for m times in the j-th compensation period, wherein the steps are used for compensating the Z axis and the XY direction of the robot tool coordinate in the j+1th compensation period until the position data of the constant force actuator exceeds the detection range, and the point is considered as the polishing track end point of the robot.
The application still provides a robot polishing route compensation arrangement on another aspect, includes:
the coordinate system adjusting module is used for adjusting a robot tool coordinate system before automatic polishing so that the robot tool coordinate system angle XYZ coincides with the feedback coordinate system angle gamma beta alpha of the force control system module;
the polishing starting point searching module is used for starting to search the workpiece near slowly along the Z-axis direction of the robot tool coordinate system after the robot quickly runs to a searching point, recording the current position and angle information of the robot when receiving the optimal position feedback signal of the force control system module, and taking the current position as a polishing starting point P 0 And simultaneously recording the position and angle information of the force control system module;
the workpiece coordinate updating module is used for determining a polishing starting point and a polishing workpiece coordinate system and calculating a polishing starting point P of the robot 0 And a preset track start point P 10 Translating the workpiece coordinates according to the deviation amount and the direction, and updating the workpiece coordinates of the polishing program to enable the robot to execute polishing work according to the new workpiece coordinates;
the time sequence unification module is used for collecting single data of the force control system module by the period time T in the polishing process d Time T of single data scanning cycle with robot system R Timing sequence unification is carried out to obtain the compensation period time T of the system f ；
The robot path compensation module is used for feeding back the collected position and angle information of the force control system module to the polishing robot control module in each compensation period time to calculate a polishing starting point P of the robot 0 The difference value of the position and the angle of the force control system module recorded at the time is used as a compensation value, and the single data scanning cycle time T of the robot system is used as a compensation value R After the compensation values are split in equal quantity, the compensation values are sequentially input into a robot control module, and the robot control module is used for gradually adjusting the position and the angle of a robot path in stages in the next compensation period time, so that the force control system module is in the optimal position and angle range And (5) maintaining the polishing work piece and polishing with constant force.
In another aspect, the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the robot grinding path compensation method when the program is executed.
The application also provides a storage medium, which comprises a stored program, and the program controls equipment where the storage medium is located to execute the steps of the robot polishing path compensation method when running.
Compared with the prior art, the application has the following beneficial effects:
1. according to the method, the actual deviation position information of the robot and the workpiece is calculated indirectly by collecting the position and the angle value of the force control system module, and the working path of the robot is adjusted, so that the tool is polished near the optimal position and the angle, and constant force polishing of the surface of the unknown curved surface workpiece can be realized under the condition of no original planning track; the debugging and workpiece position detection time is greatly shortened, the workpiece processing time is saved, and the production beat is improved;
2. according to the method and the device, the data acquisition time of the force control system module is unified with the track adjustment time sequence of the robot system, the instantaneity of system data acquisition and path compensation is improved, the fact that the motion track of the robot is closer to the polishing track of the surface of the workpiece is guaranteed, and the track convergence effect is better.
3. According to the robot vibration compensation device, the compensation quantity is split according to the robot scanning period, the robot vibration problem caused by overlarge single compensation quantity is solved, the cutter and the workpiece are kept in a relatively stable state, the situation that the workpiece is not polished in place and the workpiece is excessively polished is avoided, the consistency of the polishing effect of the surface of the workpiece is ensured, and the service life of the robot is prolonged.
In addition to the objects, features, and advantages described above, there are other objects, features, and advantages of the present application. The present application will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:
FIG. 1 is a flow chart of a robot sharpening path compensation method according to a preferred embodiment of the present application;
FIG. 2 is a schematic diagram of the robotic sharpening path compensation system of the preferred embodiment of the present application;
FIG. 3 is a schematic diagram of a Gaussian filter process applied to a force control signal in accordance with a preferred embodiment of the present application;
FIG. 4 is a unified diagram of the uplink and downlink data timing of the system according to the preferred embodiment of the present application;
FIG. 5 is a detailed sub-step flow diagram of step S5 in the present application;
FIG. 6 is a schematic diagram of a grinding start point search workpiece data update process in accordance with a preferred embodiment of the present application;
FIG. 7 is a schematic illustration of a robot sanding scenario constructed in accordance with a preferred embodiment of the present application;
FIG. 8 is a schematic diagram of an example of track compensation position calculation in accordance with a preferred embodiment of the present application;
FIG. 9 is a schematic diagram of the robot trajectory compensation effect during a compensation cycle according to the preferred embodiment of the present application;
FIG. 10 is a schematic diagram of the actual working trajectory effect of the robot after execution of the preferred embodiment of the present application;
FIG. 11 is a schematic diagram of a robotic sharpening path compensating device according to another preferred embodiment of the application;
FIG. 12 is a schematic block diagram of an electronic device entity of the preferred embodiment of the present application;
FIG. 13 is an internal block diagram of a computer device of the preferred embodiment of the present application;
in the figure: 1. a workpiece; 2. a constant force actuator; 3. and (3) a robot.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, a preferred embodiment of the present application provides a robot grinding path compensation method, comprising the steps of:
S1, before automatic polishing, adjusting a robot tool coordinate system to enable an angle XYZ of the robot tool coordinate system to coincide with an angle gamma beta alpha of a feedback coordinate system of a force control system module;
s2, after the robot quickly runs to a searching point, slowly searching the workpiece 1 along the Z-axis direction of a robot tool coordinate system, and recording the current position and angle information of the robot when receiving the optimal position feedback signal of the force control system module, wherein the position information is P 0 (x 0 ，y 0 ，z 0 ) The angle information is (W 0 ，P 0 ，R 0 ) The current position is taken as a polishing starting point P 0 And simultaneously recording the position and angle information L of the force control system module 0 ＝(d 0 ，γ f0 ，β f0 ，α f0 )；
S3, determining a polishing starting point and a polishing workpiece coordinate system wjob1, and calculating a robot polishing starting point P 0 (x 0 ，y 0 ，z 0 ) And a preset track start point P 10 (x 10 ，y 10 ，z 10 ) The workpiece coordinate is translated according to the deviation amount and the direction, the workpiece coordinate wjob1 of the polishing program is updated and stored in the robot system, so that the robot can execute polishing work according to the new workpiece coordinate wjob1, and the change of the workpiece coordinate of the robot after searching is shown in fig. 6;
s4, in the polishing process, the force control system module is subjected to single-time data acquisition cycle time T d Time T of single data scanning cycle with robot system R The time sequence is unified, and reasonable compensation period values are set to obtain the compensation period time T of the system f ；
S5, feeding back the collected position and angle information of the force control system module to the polishing robot control module in each compensation period time to calculate a polishing starting point P of the robot 0 The difference value of the position and the angle of the force control system module recorded at the time is used as a compensation value, and the single data scanning cycle time T of the robot system is used as a compensation value R And after the compensation values are split in equal quantity, the compensation values are sequentially input into a robot control module, and the robot control module is used for gradually adjusting the position and the angle of a robot path in stages in the next compensation period time, so that the force control system module performs constant-force polishing on the polished workpiece in the optimal position and angle range.
As shown in fig. 2, a constant force actuator 2 is mounted on a flange at the tail end of the robot 3 in this embodiment, a polishing tool is mounted at the tail end of the constant force actuator, polishing work is performed on a workpiece 1, the robot 3 is connected with a robot control module, and the robot control module sends data in real time to control the robot 3, and can acquire the real-time working state of the robot 3, including information such as the position, angle and speed of the robot.
The force control system module is connected with the system data processing module, and the robot control module is connected with the system data processing module. The downlink data of the system data processing module is as follows: position and angle data of a constant force actuator in the force control system module; the uplink data are: the robot path requires position and angle data to be adjusted.
In the automatic polishing process of the execution robot, the system data processing module performs edge calculation on the position and angle data of the constant force actuating mechanism 2, filters invalid data, and feeds back the invalid data to the robot control module to realize closed loop feedback of automatic polishing work.
The system data processing module comprises a communication unit, a data processing unit and a data storage unit.
The communication unit receives data from the force control system module, calculates and processes the data and sends the data to the robot control module.
The data processing unit processes the position and angle data of the force control system module and calculates the position and angle data to be compensated.
The polishing robot path compensation method provided in this embodiment, in which the processing analysis program for the force control data can be developed using Visual Studio2019 and MySQL. The force control data in each compensation period are collected and stored in MySQL, the position and angle data of the force control system module are processed and analyzed by using Visual Studio2019, the data which need to be compensated to the robot end are calculated, and the data are sent to the robot control module.
Robot sanding scenario as shown in fig. 7, robot 3 starts at the calibration of workpiece coordinate wjob1, and performs sanding with a uniform motion along the Y-axis direction at a speed V. In the polishing process, if path compensation is not performed, Z-axis data, X-axis data and directions are not changed, and the robot cutter performs polishing work on an XOY plane.
In the polishing process, due to the change of the curved surface of the workpiece, the robot 3 needs to perform position compensation on the Z axis and angle compensation on the XY axis under the coordinate system of the workpiece, and the steps described in this embodiment are adopted to implement automatic polishing of the curved surface workpiece.
The embodiment provides a robot polishing path compensation method, which has the following technical advantages compared with the prior art:
1. according to the embodiment, the actual deviation position information of the robot and the workpiece is indirectly calculated by collecting the position and the angle value of the force control system module, and the working path of the robot is adjusted, so that the cutter is polished at the optimal position and the optimal angle, and the constant force polishing of the surface of the unknown curved surface workpiece can be realized under the condition of no original planning track; the debugging and workpiece position detection time is greatly shortened, the workpiece processing time is saved, and the production takt is improved.
2. According to the embodiment, the data acquisition time of the force control system module is unified with the track adjustment time sequence of the robot system, the instantaneity of system data acquisition and path compensation is improved, the problem that a polishing path is deviated due to inconsistent uplink and downlink data time sequences is solved, the fact that the motion track of the robot is closer to the polishing track of the surface of a workpiece is guaranteed, and the track convergence effect is better.
3. According to the embodiment, the compensation quantity is split according to the scanning period of the robot, the robot is compensated for times, and the robot executes track adjustment for times, so that the problem of robot shake caused by overlarge single compensation quantity is solved, a relatively stable state between a cutter and a workpiece is kept, the situations of insufficient polishing and excessive polishing are avoided, the consistency of polishing effects on the surface of the workpiece is ensured, and the service life of the robot is prolonged.
Specifically, as shown in fig. 4, in a preferred embodiment of the present application, in step S4, the compensation cycle time T f The method comprises the following steps:
T f ＝n*T d ＝m*T R
wherein n and m are multiples.
According to the embodiment, the common multiple solving mode is adopted to unify the data acquisition time of the force control system module and the track adjustment time sequence of the robot system, so that the real-time performance of system data acquisition and path compensation is improved, the movement track of the robot is ensured to be closer to the polishing track of the surface of a workpiece, and the track convergence effect is better.
Further, in step S5, the step of equally splitting the compensation value according to the single data scanning cycle time of the robot system specifically includes:
according to single data scanning cycle time T of robot system R The compensation value is split into m equal parts.
In this embodiment, the compensation value is split into m equal parts, and the number is just equal to the single data scanning cycle time T of the time sequence unified robot system R The advantages of the method are that each compensation value after the equivalent splitting in each compensation period time is matched with the compensation amount required in the single data scanning period time of the robot system, the action execution efficiency of the robot can be affected if the equivalent splitting is too much, too little gesture adjustment amount of the robot can be possibly caused, and the robot can have working shake.
Specifically, in the preferred embodiment of the present application, the collected force control system data is fed back to the polishing robot control module in each compensation period for adjusting the position and angle of the robot path, and in order to ensure that the force control system performs constant force polishing within the optimal position and angle range, as shown in fig. 5, the step S5 specifically includes the steps of:
s51, acquiring cycle time T according to single time of the force control system module d Collecting the position and angle information of the force control system module in real time, and in the compensation period T f The total frame number of the internal acquired force control data is K= (1/Td) n, and the total frame number is stored in a system data processing module; assuming the compensation period is the j-1 th period, storing all the position and angle information of all the acquisition force control system modules acquired in the j-1 th compensation period into a system data processing module;
S52, gaussian filtering is carried out on the position and angle information of all the acquisition force control system modules acquired in the j-1 compensation period, salt and pepper noise points are removed, signal interference in the polishing process is reduced (see figure 3), sudden vibration of a cutter part caused by small abrupt change of a workpiece in the polishing process can be prevented, and interference of error signals of the force control system modules is avoided.
Then, after Gaussian filtering, data of the force control system module with the K' group exist, and the position and angle data of the force control system module after Gaussian filtering in the j-1 th compensation period are averaged:
wherein the position and angle data functions of the force control system module
For the mean value of the position data in the compensation period in the force control system, +.>
Is the average value of the angle data. />
The data average value in the compensation period is taken to compensate the working path of the robot, so that the compensated working path of the robot is more gentle, and the polishing effect of the robot is more stable and homogeneous;
calculating the average value and the polishing starting point P 0 The difference value of the position and angle information of the robot is taken as a compensation value delta L, namely, the average value is subtracted by the data recorded by the force control system at the polishing starting point, the difference value delta L is calculated, the value is the deviation data which needs to be compensated to the robot end in a compensation period, wherein the z-axis direction is not adjusted, the Y-axis direction is adjusted, and the delta L is calculated as follows:
Wherein d is 0 For polishing the starting point P 0 Position data Δd of (a) t For compensating the robot in the Z-axis direction in Cartesian space, Δγγ t ，Δβ t The compensation value of the attitude angle of the robot in the Cartesian space is obtained;
s53, scanning cycle time T according to single times of the robot system R Equally dividing the compensation value delta L into m parts, wherein the divided compensation value delta L/m is used for compensating the Z axis and the XY direction of the robot tool coordinate in the next compensation period;
s54, when the polishing robot runs to the jth compensation period, the upper computer sequentially transmits the split compensation value delta L/m to the robot control module according to m times, and the time period of transmitting the split compensation value delta L/m each time is equal to the single time scanning period time T of the robot system R ；
S55, the robot control module scans the cycle time T according to single times of the robot system R Receiving compensation values m times, namely receiving a split compensation value delta L/m each time, and calculating m times to obtain m track motion target points after robot compensation, wherein the polishing robot carries out compensation on the basis of the actual position points of the robot when the last compensation period (j-1 th period) is finished, and the compensation quantity delta L/m each time; in step S55, the robot performs compensation based on the actual position point of the robot 3 at the end of the last compensation period (j-1 th period), each of which is DeltaL/m, and at the end of the last compensation period, i.e., the machine The robot runs to a time t= (j-1) T f When the robot position point data (under the workpiece coordinate system) are recorded, the compensation value delta L/m (converted into the workpiece coordinate system) transmitted by the system data processing module is fused, the working track of the robot is adjusted, the constant force polishing is carried out on the workpiece, and the final compensation effect is shown in figure 9;
s56, the robot control module controls the robot to track x in the time t direction ’ Motion, single data scanning cycle time T in each robot system R The movement to the new trajectory point is performed once, and m times in total are performed in the j-th compensation period.
Specifically, in the preferred embodiment of the present application, in S55, each time the split compensation value Δl/m is received, and m times of calculation are performed to obtain the compensated trajectory motion target point of the robot, which specifically includes the steps of:
s551, setting the tool coordinate system of the robot as { A }, the workpiece coordinate system of the robot as { B }, and passing the split compensation value delta L/m through an equivalent rotation matrix
Position and posture data of the robot path to be compensated in Cartesian space are converted:
ΔP j ＝(Δx j-1 ，Δy j-1 ，Δz j-1 ，ΔW j-1 ，ΔP j-1 ，ΔR j-1 )；
s552, in the previous compensation period, the position and the posture data of the end point of the robot under the Cartesian space workpiece coordinate system 
And integrating the compensation data delta P sent by the upper computer system j And recalculating the position and the posture of the moving target of the robot, thereby adjusting the polishing path of the robot. />
In this embodiment, the tool coordinate system of the robot is { a }, the robot tool coordinate system XYZ coincides with the angle γβα of the force control system module, the robot workpiece coordinate system is { B }, and the robot tool data coordinate is directly converted to the workpiece coordinate by the equivalent rotation matrix.
At the j-th compensation period of the system, setting: the compensation quantity sent to the robot by the system data processing module every time is delta L/m, wherein delta L is the position and angle data of the force control system module acquired in the last compensation period (j-1 th period), and the compensation quantity delta L/m data passes through an equivalent rotation matrix
The compensation required in the current workpiece coordinate system in Cartesian space can be calculated as:
ΔP j ＝(Δx j-1 ，Δy j-1 ，Δz j-1 ，ΔW j-1 ，ΔP j-1 ，ΔR j-1 )
wherein DeltaP j Position compensation quantity of tool TCP point of robot in cartesian space:
(Δx j-1 ，Δy j-1 ，Δz j-1 ) Attitude compensation amount of tool: (DeltaW) j-1 ，ΔP j-1 ，ΔR j-1 )。
Analysis is performed from a time-position compensated function curve, which is shown as a Z-axis compensated curve, and the robot working path compensation in the next (j) cycle is performed using the force control feedback value in the previous (j-1) compensation cycle, as shown in fig. 8.
At the end of the last compensation period, the real-time position of the robot is recorded as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for the robot to move linearly along the axis in the Cartesian space under the coordinate system of the workpiecePut data
And posture data->
In the jth compensation period, based on points
To start performing compensation, P j Is the end point of this compensation period (j-th period).
The implementation compensation mode is as follows: in Cartesian space, the robot performs polishing work at an original speed V along a Y-axis, performs position compensation in a Z-axis direction, performs angle compensation in an XY direction, and performs polishing work at an original speed P j For the last scanning period of the robot system in the compensation period (j-th compensation period), the robot in the motion target value, P j The point position and pose data are calculated as follows:
where m is the number of times the robot performs the compensation in a single compensation cycle,
and
real-time position data and attitude data recorded by the robotic system at the end of the last compensation period. Δz j-1 For each amount of position compensation performed in the current compensation period ΔW j-1 ，ΔP j-1 For the amount of angular compensation performed each time in the current compensation period, the compensation is summed m times, x j ，y j ，z j And W is j ，P j ，R j And when the final scanning period of the current compensation period is the last scanning period, the robot moves in the Cartesian space to obtain target position data and attitude data.
In the ith compensation period, the robot system has m scanning periods, the robot performs working track adjustment compensation m times, and the compensation value in each scanning period is delta P j Let i be equal to or more than 1 and equal to or less than m, i be an integer.
In the compensation period, in the ith robot scanning period, the robot performs polishing work along the Y axis at the original speed V, and in the Cartesian space, the target position and posture data of the robot are calculated as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
and->
Real-time position data and attitude data recorded by the robotic system at the end of the last compensation period. Δz j-1 For each amount of position compensation performed in the current compensation period ΔW j-1 ，ΔP j-1 The compensation is performed m times in total for each angular compensation amount performed in the current compensation period. X is x ji ，y ji ，z ji And W is ji ，P ji ，R ji And (3) for the ith robot scanning period in the current compensation period, the target position data and the gesture data of the robot moving in the Cartesian space.
During the 1 st compensation period, the position and angle information of the force control system module recorded by the robot system and the polishing starting point is L 0 ＝(d 0 ，γ f0 ，β f0 ，α f0 ) The compensation quantity transmitted by the system data processing module each time is delta L 0 In/m-robotic system, this data is subjected to an equivalent rotation matrix
The single scanning period of the robot in the 1 st compensation period can be calculated, and the current time is The required compensation quantity under the coordinate system of the workpiece is as follows:
ΔP 1 ＝(Δx 0 ，Δy 0 ，Δz 0 ，ΔW 0 ，ΔP 0 ，ΔZ 0 )
the robot performs the polishing work along the Y-axis at the original speed V, the robot working track does not perform position compensation, only compensates for angles, and the workpiece coordinate Z-axis does not rotate. Then in the 1 st compensation period, i.e. when j=1, at P 1 The position and posture data of the points are as follows:
wherein x is 0 ，y 0 ，z 0 And W is 0 ，P 0 ，R 0 And when searching for the polishing starting point for the robot, the position data and the gesture data recorded by the robot system. X is x 1 ，y 1 ，z 1 And W is 1 ，P 1 ，R 1 At the end of the 1 st compensation period, the robot moves in cartesian space to target position data and attitude data.
In the 1 st compensation period, the robot has m scanning periods, and the compensation value in each scanning period is delta P 1 Let i be equal to or more than 1 and equal to or less than m, i be an integer. In the compensation period, the robot performs polishing work along the Y axis at the original speed V, and the robot moving target position and angle data of the ith robot scanning period are calculated as follows:
wherein x is 0 ，y 0 ，z 0 And W is 0 ，P 0 ,R 0 When searching a polishing starting point for a robot, a robot system records position data and posture data of the robot, and x is the number of times of the robot system 1i ，y 1i ，z 1i And W is 1i ，P 1i ,R 1i The 1 st compensation period is the ith robot scanning period, and the robot is in Cartesian spaceTarget position data and attitude data of the down-movement.
Specifically, in a preferred embodiment of the present application, the step S56 further includes the steps of:
and (3) repeating the steps S51-S53 while executing the movement to the new track point for m times in the j-th compensation period, wherein the steps are used for compensating the Z axis and the XY direction of the robot tool coordinate in the j+1th compensation period until the position data of the constant force actuator exceeds the detection range, and the point is considered as the polishing track end point of the robot.
Fig. 10 is a schematic diagram of the actual working track effect of the robot after execution according to the embodiment of the application, and as can be seen from the figure, the real-time performance of system data acquisition and path compensation is improved, the motion track of the robot is ensured to be closer to the polishing track of the workpiece surface, and compared with the traditional compensation method, the convergence effect of the polishing path after compensation is better.
As shown in fig. 11, another preferred embodiment of the present application further provides a robot polishing path compensation device, including:
the coordinate system adjusting module is used for adjusting a robot tool coordinate system before automatic polishing so that the robot tool coordinate system angle XYZ coincides with the feedback coordinate system angle gamma beta alpha of the force control system module;
the polishing starting point searching module is used for starting to search the workpiece near slowly along the Z-axis direction of the robot tool coordinate system after the robot quickly runs to a searching point, recording the current position and angle information of the robot when receiving the optimal position feedback signal of the force control system module, and taking the current position as a polishing starting point P 0 And simultaneously recording the position and angle information of the force control system module;
the workpiece coordinate updating module is used for determining a polishing starting point and a polishing workpiece coordinate system and calculating a polishing starting point P of the robot 0 And a preset track start point P 10 Translating the workpiece coordinates according to the deviation amount and the direction, and updating the workpiece coordinates of the polishing program to enable the robot to execute polishing work according to the new workpiece coordinates;
timing sequence unification moduleIs used for collecting the single-time data of the power control system module by the period time T in the polishing process d Time T of single data scanning cycle with robot system R Timing sequence unification is carried out to obtain the compensation period time T of the system f ；
The robot path compensation module is used for feeding back the collected position and angle information of the force control system module to the polishing robot control module in each compensation period time to calculate a polishing starting point P of the robot 0 The difference value of the position and the angle of the force control system module recorded at the time is used as a compensation value, and the single data scanning cycle time T of the robot system is used as a compensation value R And after the compensation values are split in equal quantity, the compensation values are sequentially input into a robot control module, and the robot control module is used for gradually adjusting the position and the angle of a robot path in stages in the next compensation period time, so that the force control system module performs constant-force polishing on the polished workpiece in the optimal position and angle range.
As shown in fig. 12, the preferred embodiment of the present application further provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the robot grinding path compensation method in the above embodiment when executing the program.
As shown in fig. 13, the preferred embodiment of the present application also provides a computer device, which may be a terminal or a living body detection server, the internal structure of which may be as shown in fig. 13. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with other external computer devices through network connection. The computer program, when executed by a processor, implements the steps of the robot sharpening path compensation method described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 13 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
The preferred embodiment of the present application also provides a storage medium including a stored program that, when executed, controls a device in which the storage medium is located to perform the steps of the robot grinding path compensation method in the above embodiment.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
The functions described in the method of this embodiment, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in one or more computing device readable storage media. Based on such understanding, a portion of the embodiments of the present application that contributes to the prior art or a portion of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computing device (which may be a personal computer, a server, a mobile computing device or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or other various media capable of storing program codes.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The solutions in the embodiments of the present application may be implemented in various computer languages, for example, object-oriented programming language Java, and an transliterated scripting language JavaScript, etc.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (10)
1. A robot grinding path compensation method, comprising the steps of:
s1, before automatic polishing, adjusting a robot tool coordinate system to enable an angle XYZ of the robot tool coordinate system to coincide with an angle gamma beta alpha of a feedback coordinate system of a force control system module;
s2, after the robot rapidly runs to a searching point, slowly searching the workpiece along the Z-axis direction of a coordinate system of the robot, recording the current position and angle information of the robot when receiving an optimal position feedback signal of a force control system module, and taking the current position as a polishing starting point P 0 And simultaneously recording the position and angle information of the force control system module;
s3, determining a polishing starting point and a polishing workpiece coordinate system, and calculating a robot polishing starting point P 0 And a preset track start point P 10 Translating the workpiece coordinates according to the deviation amount and the direction, and updating the workpiece coordinates of the polishing program to enable the robot to execute polishing work according to the new workpiece coordinates;
S4, in the polishing process, the force control system module is subjected to single-time data acquisition cycle time T d Time T of single data scanning cycle with robot system R Timing sequence unification is carried out to obtain the compensation period time T of the system f ；
S5, feeding back the collected position and angle information of the force control system module to the polishing robot control module in each compensation period time to calculate a polishing starting point P of the robot 0 The difference value of the position and the angle of the force control system module recorded at the time is used as a compensation value, and the single data scanning cycle time T of the robot system is used as a compensation value R And after the compensation values are split in equal quantity, the compensation values are sequentially input into a robot control module, and the robot control module is used for gradually adjusting the position and the angle of a robot path in stages in the next compensation period time, so that the force control system module performs constant-force polishing on the polished workpiece in the optimal position and angle range.
2. The method of claim 1, wherein in step S4, the compensation cycle time T f The method comprises the following steps:
T f ＝n*T d ＝m*T R
wherein n and m are multiples.
3. The robot polishing path compensation method according to claim 2, wherein in step S5, the step of equally splitting the compensation value according to a single data scanning cycle time of the robot system is specifically:
According to single data scanning cycle time T of robot system R The compensation value is split into m equal parts.
4. The robot polishing path compensation method according to claim 3, wherein the step S5 specifically comprises the steps of:
s51, acquiring cycle time T according to single time of the force control system module d The position and angle information of the force control system module is collected in real time, and all the position and angle information of the force control system module collected in the j-1 th compensation period are stored in the system data processing module;
s52, averaging the position and angle information of all the acquisition force control system modules acquired in the j-1 th compensation period, and calculating the average value and the polishing starting point P 0 The difference value of the position and angle information of (2) is used as a compensation value delta L;
s53, scanning cycle according to single times of robot systemTime T R Equally dividing the compensation value delta L into m parts, wherein the divided compensation value delta L/m is used for compensating the Z axis and the XY direction of the robot tool coordinate in the next compensation period;
s54, when the polishing robot runs to the jth compensation period, the upper computer sequentially transmits the split compensation value delta L/m to the robot control module according to m times, and the time period of transmitting the split compensation value delta L/m each time is equal to the single time scanning period time T of the robot system R ；
S55, the robot control module scans the cycle time T according to single times of the robot system R Receiving the compensation value m times, receiving the split compensation value delta L/m each time, and calculating m times to obtain a robot compensated track motion target point;
s56, the robot control module controls the robot to move towards the target track x at time t ’ Motion, single data scanning cycle time T in each robot system R The movement to the new trajectory point is performed once, and m times in total are performed in the j-th compensation period.
5. The robot polishing path compensation method according to claim 4, further comprising the step of, before the averaging in step S52:
and (3) carrying out Gaussian filtering processing on the position and angle information of all the acquisition force control system modules acquired in the j-1 compensation period, removing salt and pepper noise points, and reducing signal interference in the polishing process.
6. The method for compensating a robot polishing path according to claim 4, wherein in S55, each time the split compensation value Δl/m is received, and m times of calculation are performed to obtain the compensated trajectory target point of the robot, respectively, specifically comprising the steps of:
s551, setting the tool coordinate system of the robot as { A }, the workpiece coordinate system of the robot as { B }, and passing the split compensation value delta L/m through an equivalent rotation matrix 
Position and posture data of the robot path to be compensated in Cartesian space are converted:
ΔP j ＝(Δx j-1 ，Δy j-1 ，Δz j-1 ，ΔW j-1 ，ΔP j-1 ，ΔR j-1 )；
s552, in the previous compensation period, the position and the posture data of the end point of the robot under the Cartesian space workpiece coordinate system
And integrating the compensation data delta P sent by the upper computer system j The position and the gesture of the moving target of the robot are recalculated, so that the polishing path of the robot is adjusted:
7. the robot sanding path compensation method of claim 4, wherein said S56 further comprises the steps of:
and (3) repeating the steps S51-S53 while executing the movement to the new track point for m times in the j-th compensation period, wherein the steps are used for compensating the Z axis and the XY direction of the robot tool coordinate in the j+1th compensation period until the position data of the constant force actuator exceeds the detection range, and the point is considered as the polishing track end point of the robot.
8. A robot polishing path compensation device, comprising:
the coordinate system adjusting module is used for adjusting a robot tool coordinate system before automatic polishing so that the robot tool coordinate system angle XYZ coincides with the feedback coordinate system angle gamma beta alpha of the force control system module;
the polishing starting point searching module is used for starting to slowly approach to the workpiece along the Z-axis direction of the robot tool coordinate system after the robot quickly runs to a searching point When receiving the optimal position feedback signal of the force control system module, recording the current position and angle information of the robot, and taking the current position as a polishing starting point P 0 And simultaneously recording the position and angle information of the force control system module;
the workpiece coordinate updating module is used for determining a polishing starting point and a polishing workpiece coordinate system and calculating a polishing starting point P of the robot 0 And a preset track start point P 10 Translating the workpiece coordinates according to the deviation amount and the direction, and updating the workpiece coordinates of the polishing program to enable the robot to execute polishing work according to the new workpiece coordinates;
the time sequence unification module is used for collecting single data of the force control system module by the period time T in the polishing process d Time T of single data scanning cycle with robot system R Timing sequence unification is carried out to obtain the compensation period time T of the system f ；
The robot path compensation module is used for feeding back the collected position and angle information of the force control system module to the polishing robot control module in each compensation period time to calculate a polishing starting point P of the robot 0 The difference value of the position and the angle of the force control system module recorded at the time is used as a compensation value, and the single data scanning cycle time T of the robot system is used as a compensation value R And after the compensation values are split in equal quantity, the compensation values are sequentially input into a robot control module, and the robot control module is used for gradually adjusting the position and the angle of a robot path in stages in the next compensation period time, so that the force control system module performs constant-force polishing on the polished workpiece in the optimal position and angle range.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the robot sanding path compensation method as defined in any one of claims 1 to 7 when the program is executed.
10. A storage medium comprising a stored program, characterized in that the device in which the storage medium is controlled to perform the steps of the robot sanding path compensation method as defined in any one of claims 1 to 7 when the program is run.
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