CN116984993A - Robot grinding and polishing track correction method and system based on coordinate system integration - Google Patents
Robot grinding and polishing track correction method and system based on coordinate system integration Download PDFInfo
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- CN116984993A CN116984993A CN202310726039.0A CN202310726039A CN116984993A CN 116984993 A CN116984993 A CN 116984993A CN 202310726039 A CN202310726039 A CN 202310726039A CN 116984993 A CN116984993 A CN 116984993A
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- 238000005498 polishing Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000000227 grinding Methods 0.000 title claims abstract description 24
- 230000010354 integration Effects 0.000 title claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 65
- 238000003754 machining Methods 0.000 claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 238000012805 post-processing Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 15
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- 230000005484 gravity Effects 0.000 claims description 6
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Classifications
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- Data Mining & Analysis (AREA)
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a robot grinding and polishing track correction method and system based on coordinate system integration, which are applied to the self-adaptive grinding and polishing process of inner and outer boundaries of characteristic molded surfaces with changeable processing directions such as circular and fold lines of thin-wall plates of airplanes and the like. According to the method, an offline track planning method is adopted to calculate a machining path, a robot executable machining program can be generated after post-processing, in the machining process, in order to adapt to the deformation condition of a thin-wall part, the planned track is corrected in real time according to the contact force value of a tool and a workpiece, a correction coordinate system of a current machining point is set according to the movement direction of the machining point during correction, and the pose of the robot is adjusted on the basis of the correction coordinate system. The direction of the correction coordinate system is reasonably set, so that the robot polishing tool can be ensured to be far away from or close to a polishing position along a certain fixed direction of the correction coordinate system, the parallel motion of the center of the polishing tool and the polishing characteristic boundary is realized, the problems of large-scale change of the robot gesture and uneven processing linear speed are avoided, and the purpose of continuously, uniformly and adaptively processing the boundary path with variable direction is achieved.
Description
Technical Field
The invention relates to a robot grinding and polishing track correction method and system based on coordinate system integration, and belongs to the technical field of intelligent machining and grinding and polishing.
Background
At present, the boundary polishing of complex thin-wall structural members such as aircraft wall panels is mainly carried out by adopting a traditional manual polishing mode, the task amount of polishing procedures is large, the efficiency is low, and the polishing quality is determined by the proficiency and the operation skills of operators, so that the key indexes such as profile precision and surface quality of components are caused to produce artificial errors, the using effect of the components is influenced, a large amount of dust is produced during manual polishing, and the health of the operators is seriously influenced.
At present, the polishing operation is performed by using the flexible control of a robot in a common polishing mode and an effective way. The patent named as a flexible control-based automatic polishing system and a processing method for a complex curved surface of a robot (CN 105643399A) aims at planning a processing track before polishing a complex curved surface workpiece, and the robot drives the robot to move according to a processing track planning program file so as to drive a polishing tool arranged on an end effector of the robot to contact and process a processing surface. The patent named as 'robot polishing method of constant cutting rate of complex curved surface based on real-time force control' (CN 110524371B) adopts an upper computer to calculate path track, and adopts a gravity compensation method based on standard position to adjust the position of a cutter in real time through a self-adaptive impedance control algorithm, so as to realize constant cutting rate of grinding pressure of a workpiece.
In the method, the machining track planning and self-adaptive adjustment are mainly performed in a fixed coordinate system mode aiming at machining conditions with slow curvature changes such as curved surfaces, the conditions that the robot is limited or forced to perform segmented machining and the like due to large curvature changes such as broken lines and circles are not suitable, and meanwhile, abnormal machining conditions such as local tool interference and the like are easily generated due to large-scale changes of the robot. Therefore, there is an urgent need for a more efficient method for correcting the polishing track of a robot to effectively solve the above-mentioned problems.
Disclosure of Invention
In order to realize the polishing system for the boundary of the complex structural member, the invention provides a robot polishing track correction method and system based on coordinate system integration, and the aim of automatically polishing a workpiece is fulfilled by combining theoretical calculation analysis and automatic control.
The technical scheme adopted by the invention for achieving the purpose is as follows:
robot grinding and polishing track correction method based on coordinate system integration, wherein a follow-up time-varying robot integrated coordinate system T is defined in the process of inner and outer boundaries of characteristic molded surfaces with variable robot machining directions Adjust The processing gesture is corrected based on force feedback to realize self-adaptive grinding and polishing; the method comprises the following steps:
offline path generation: loading a three-dimensional model of a workpiece, selecting boundary curve characteristics to be processed, setting processing parameters, and generating a workpiece base coordinate system T of the current curve characteristics to be processed Base A lower processing path;
post-processing: processing the processing path into a processing program, and calling the path program during processing;
and (3) calculating a coordinate system: defining a follow-up time-varying robot integrated coordinate system T Adjust The method is used for representing the characteristics of the current curve to be processed; controlling the robot to execute a machining program, and machining the workpiece according to the track and the tool coordinate system T in the machining process Tool Follow-up time-varying coordinate system T for updating current machining position by direction calculation Adjust ；
Track correction: based on force sensing feedback, the coordinate system T is changed in a follow-up time Adjust Adjusting the processing pose of the industrial robot to adapt to the deformation of the thin-wall partThereby continuously processing the boundary path.
The processing boundary curve is characterized in that a preset basic processing track is selected for the current boundary curve to be processed: graphics, straight line segments, planes or space curves.
Setting processing parameters according to the processing tool and the processing technology requirements; the processing parameters include line spacing, processing step length, processing speed, tool feed direction and tool normal direction.
The T is Adjust The coordinate axes are defined as follows:
X Adjust : workpiece-based coordinate system T Base The lower processing path curve is in the track tangential direction of the current processing point;
Y Adjust : from the object-based coordinate system T Base Track tangent and tool coordinate system T Tool A planar normal vector formed by the X+ direction;
Z Adjust : from X Adjust And Y Adjust A vector of the rectangular coordinate system is formed.
The robot integrated coordinate system T Adjust Is updated by follow-up time variation, and can be calculated when the linear or circular arc motion is carried out;
the tangential direction of the track is not parallel to the X+ direction of the tool coordinate system, otherwise T cannot be calculated Adjust ；
Adjusting the coordinate system T during processing Adjust Is always located on the TCP of the workpiece to be processed, and changes T Adjust Is such that the robot position is parallel to the trajectory and T Adjust The Y-axis or Z-axis direction of (2) always coincides with the track vertical direction;
in the track correction, T is used Adjust Is corrected based on the Y-axis or Z-axis of (C).
The robot pose correction method comprises the following steps: and adjusting the pose of the offline path of the robot according to the stress condition of the tool after the gravity compensation, so as to control the contact condition between the polishing tool and the workpiece, and achieve self-adaptive processing.
The robot pose correction method comprises the following steps: the adjustment direction is in an integrated coordinate system T from the vertical direction of the processing point Adjust Is calculated; calculation of contact force from tool coordinate system T Tool The direction of the resultant force is T Adjust Is determined by the fixed direction of the Y or Z coordinate axis; for absolute correction, the sensor correction is calculated in absolute form with the current nominal position of the robot or of the respective axis, the new position being the sum of the current nominal position and the correction value distance.
And the post-processing processes the track into a control node signal integrating start and stop of the polishing tool and start and end of track correction.
A coordinate system correction based robotic adaptive lapping and polishing control system, comprising: the system comprises an upper computer, a robot controller and a tail end force sensor; the upper computer stores a program, and when the program is loaded, the method steps are executed to realize self-adaptive grinding and polishing; the robot controller is used for executing an execution program sent by the upper computer and feeding back execution data; the end force sensor is used for detecting and feeding back the contact force value in real time.
And the upper computer is respectively in data transmission with the robot controller and the tail end force sensor through an Ethernet UDP/IP protocol.
The invention has the following advantages:
1. the invention is mainly applied to the self-adaptive grinding and polishing process of the inner and outer boundaries of the characteristic molded surfaces with changeable processing directions such as circles, fold lines and the like of the thin-wall plates of the airplanes.
2. In the machining process, in order to adapt to the deformation condition of the thin-wall workpiece, the planned track is corrected in real time according to the contact force value of the tool and the workpiece, a correction coordinate system of the current machining point is set according to the movement direction of the machining point during correction, and the pose of the robot is adjusted on the basis of the correction coordinate system.
3. In the machining process, the direction of the correction coordinate system is reasonably set, the robot polishing tool can be ensured to be far away from or close to the polishing position along a certain fixed direction of the correction coordinate system, the parallel movement of the center of the polishing tool and the polishing characteristic boundary is realized, the problems of large-scale change of the gesture of the robot and uneven machining linear speed are avoided, and the purpose of continuously, uniformly and adaptively machining the boundary path with variable direction is achieved.
4. The invention realizes the boundary track planning and the self-adaptive polishing and burnishing adjustment process.
5. The invention realizes the self-adaptive polishing and polishing automatic flow of the polygon boundary of the complex structural member, and greatly improves the processing efficiency and the processing quality of the workpiece.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 (a) is a view illustrating the 0 position of a circle in the tool coordinate system of the present invention;
FIG. 2 (b) is a 90 degree position illustration of a tool coordinate system circle in accordance with the present invention;
FIG. 2 (c) is a 180 degree position illustration of a tool coordinate system circle in accordance with the present invention;
FIG. 2 (d) is a 270 degree position explanatory diagram of a tool coordinate system circle of the present invention;
FIG. 3 is a diagram showing the definition of the system integration coordinate system of the present invention at 0 °, 90 °, 180 °, 270 °;
FIG. 4 (a) is a feature diagram of a model of a processing object according to the present invention;
FIG. 4 (b) is a diagram showing the generation of an offline trajectory of a circular feature of a processing object according to the present invention;
FIG. 4 (c) is a diagram showing the offline trajectory generation of the fold line feature of the object of the present invention;
FIG. 5 is a process diagram of a post-processing generation process of the present invention;
FIG. 6 is a diagram of track modification control logic according to the present invention;
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1, a method for correcting a robot grinding and polishing track based on coordinate system integration comprises the steps of off-line path generation, post-processing, follow-up time-varying coordinate system calculation and robot grinding and polishing track correction.
The method comprises the following steps:
as shown in fig. 2, we are accustomed to the tool coordinate system T in actual machining Tool With force sensor T Force The coordinate system is consistent in direction. Taking a circular track as an example, the conventional track correction method uses the normal direction and T of the track Tool In the whole circular track processing process, the tool is required to rotate 360 degrees under the condition that the positions of contact points are consistent, such as the processing states of robots of 90 degrees and 270 degrees, if T is set Tool Is inward along the Z-direction vertical track, and the robot needs to wind T Tool The X axis of the robot rotates 180 degrees, so that singular points or shaft limiting conditions often occur in the process, and the processing consistency is affected.
And FIG. 3 is a T Adjust Setting the center point of the grinding tool as the center T of the tool coordinate system as a reference coordinate system Tool The track shifts the tool radius value, while the machine direction is along T Adjust X-directional machining of (C), then the machining tool is along T Adjust The Y-direction adjustment of the robot is only needed, and the robot can meet the machining of the whole circumferential track under the condition of small gesture floating. And T is Adjust The Y-direction adjustment of (2) is based on the force value of the tool after gravity compensation is T Adjust Is defined in the figure).
T Adjust Is calculated as follows:
the position under the base coordinate system at the last moment in the robot processing process is P last ＝(x 0 ，y 0 ，z 0 ) The position of the robot under the base coordinate system at the current moment is P now ＝(x 1 ，y 1 ，z 1 ) Then have tangent vectorThe vector of the quantity is
(D x ，D y ，D z )＝((x 1 -x 0 )，(y 1 -y 0 )，(z 1 -z 0 ))
The pose in the base coordinate system from the tool coordinate system can be expressed as (0, a, b, c) and translated into a pose matrix as:
the X-axis direction of the tool coordinate system can be expressed as: (n) x ，n y ，n z )
T Adjust The X-axis direction of (2) is: (D) x ，D y ，D z )
T Adjust The Y-axis direction of (2) is: (D) x ，D y ，D z ) And (n) x ，n y ，n z ) Taking cross multiplication:
wherein i, j and k are T Adjust Three axes;
T Adjust the Y-axis of (c) may be expressed as:
T Adjust_y ＝((D y n z -n y D z )，-(D x n z -n x D z )，(D x n y -n x D y ))
Z Adjust is formed by T Adjust X-axis and T of (2) Adjust The Y-axis of (2) constitutes the vector of the rectangular coordinate system, so far, T Adjust Can be determined.
Robot integrated coordinate system T Adjust Is a coordinate system synchronous with the track, and can be calculated when the linear or circular arc motion is carried out. From T Adjust The definition shows that the tangential direction of the track is not allowed to be parallel to the X+ direction of the tool coordinate system, otherwise T cannot be calculated Adjust . Adjusting the coordinate system T Adjust Is always located at the origin of the excitedOn TCP of the movable tool, for circular or other broken line tracks, the robot processing posture can be changed from T Adjust Take over, change T Adjust Can ensure that the robot position is parallel to the track, and T Adjust The Y-axis or Z-axis direction of (C) is always consistent with the vertical direction of the track, and T is directly used in the track correction Adjust The Y-axis or Z-axis of (C) may be corrected.
As shown in FIG. 4, we select a thin-walled part containing multiple kinds of boundary features such as circles, ellipses, broken lines and the like, and route planning is performed on the typical features to be processed. Firstly, inputting a workpiece three-dimensional model into upper computer offline programming software, selecting boundary curve characteristics to be processed after loading, setting processing parameters such as line spacing, processing step length, processing speed, tool feeding direction, tool normal direction and the like according to processing tool and processing technology requirements, and generating a processing path of the current characteristics under a base coordinate system.
As shown in fig. 5, a processing program executable by the robot is generated after the post-processing step, and we take a library card robot system as an example to generate a processing program identifiable by the library card robot. And the control system performs data transmission through an Ethernet UDP/IP protocol and the robot, and performs data transmission through the Ethernet TCP/IP protocol and the force sensor. During the motion, the force sensor correction directly affects the motion of the robot, and the motion of the industrial robot planned based on the normal track is changed according to the measured value of the force sensor.
The upper computer control system controls the robot to execute a machining program, and calculates a robot integrated coordinate system T of the current machining position according to the track machining direction and the tool coordinate system direction in the machining process Adjust The path correction is based on force sensing feedback and is based on the contact force value of the tool and the workpiece in an integrated coordinate system T Adjust And correcting the pose of the robot on the reference, realizing the effect of adjusting the processing pose of the industrial robot, and achieving the purpose of continuously processing the boundary path.
The robot grinding and polishing track correction method is based on the tool receiving after gravity compensationThe pose of the offline path of the robot is adjusted according to the force condition, so that the contact condition between the polishing tool and the workpiece is controlled, and the effect of self-adaptive machining is achieved. Wherein the adjustment direction of the robot pose is in an integrated coordinate system T from the vertical direction of the processing point Adjust Is calculated from the representation of the tool coordinate system T, while the contact force is calculated from the tool coordinate system T Tool The direction of the resultant force is T Adjust For absolute correction, the sensor correction is calculated in absolute value from the current nominal position of the robot or of the respective axis, the new position being derived from the distance of the current correction value from the programmed nominal position.
As shown in fig. 6, in order to perform the track correction process, the upper computer control system controls the robot to execute the machining program, and calculates the robot integrated coordinate system T of the current machining position according to the track machining direction and the tool coordinate system direction during the machining process Adjust The path correction is based on force sensing feedback and is based on the contact force value of the tool and the workpiece in an integrated coordinate system T Adjust And correcting the pose of the robot on the reference to realize the effect of adjusting the processing pose of the industrial robot. Wherein the adjustment direction of the robot pose is in an integrated coordinate system T from the vertical direction of the processing point Adjust Is calculated by calculating the contact force by first determining T Tool To T Adjust Is calculated according to the transformation matrix of the (a) and F y 。
The specific calculation process comprises the following steps:
the contact force after gravity compensation is expressed in the base coordinates as:
B_Force＝(B_Force x ，B_Force y ，B_Force z )
the contact force is expressed in the y-axis of the integrated coordinate system as:
b_force direction T Adjust_y Projection calculation:
then
If T Adjust_y The included angle between the direction and the B_force direction is larger than 90 degrees, F is formed y Taking negative.
From the instance, F can be calculated y And then along T Adjust The y-direction adjustment position of the robot can finish the motion process correction of the track, the effect of continuously adjusting the processing pose of the industrial robot is realized, and the aim of continuously processing the boundary paths with changeable directions is fulfilled.
Claims (10)
1. A robot grinding and polishing track correction method based on coordinate system integration is characterized in that a follow-up time-varying robot integrated coordinate system T is defined in the process of inner and outer boundaries of a characteristic molded surface with variable robot machining directions Adjust The processing gesture is corrected based on force feedback to realize self-adaptive grinding and polishing; the method comprises the following steps:
offline path generation: loading a three-dimensional model of a workpiece, selecting boundary curve characteristics to be processed, setting processing parameters, and generating a workpiece base coordinate system T of the current curve characteristics to be processed Base A lower processing path;
post-processing: processing the processing path into a processing program, and calling the path program during processing;
and (3) calculating a coordinate system: defining a follow-up time-varying robot integrated coordinate system T Adjust The method is used for representing the characteristics of the current curve to be processed; controlling the robot to execute a machining program, and machining the workpiece according to the track and the tool coordinate system T in the machining process Tool Follow-up time-varying coordinate system T for updating current machining position by direction calculation Adjust ；
Track correction: based on force sensing feedback, the coordinate system T is changed in a follow-up time Adjust And (3) adjusting the processing pose of the industrial robot to adapt to the deformation of the thin-wall part so as to continuously process the boundary path.
2. The method for correcting the grinding and polishing track of the robot based on the coordinate system integration according to claim 1, wherein the machining boundary curve is characterized in that a preset basic machining track is selected for a current boundary curve to be machined: graphics, straight line segments, planes or space curves.
3. The robot lapping and polishing track correction method based on coordinate system integration according to claim 1, wherein machining process parameters are set according to machining tools and machining process requirements; the processing parameters include line spacing, processing step length, processing speed, tool feed direction and tool normal direction.
4. The method for correcting the grinding and polishing track of the robot based on the integration of a coordinate system according to claim 1, wherein the T is as follows Adjust The coordinate axes are defined as follows:
X Adjust : workpiece-based coordinate system T Base The lower processing path curve is in the track tangential direction of the current processing point;
Y Adjust : from the object-based coordinate system T Base Track tangent and tool coordinate system T Tool A planar normal vector formed by the X+ direction;
Z Adjust : from X Adjust And Y Adjust A vector of the rectangular coordinate system is formed.
5. The method for correcting a polishing track of a robot grinding system based on a coordinate system integration according to claim 4, wherein the robot integration coordinate system T Adjust Is updated by follow-up time variation, and can be calculated when the linear or circular arc motion is carried out;
the tangential direction of the track is not parallel to the X+ direction of the tool coordinate system, otherwise T cannot be calculated Adjust ；
Adjusting the coordinate system T during processing Adjust Is always located on the TCP of the workpiece to be processed, and changes T Adjust Is such that the robot position is parallel to the trajectory and T Adjust The Y-axis or Z-axis direction of (2) always coincides with the track vertical direction;
in-track correctionAt the time of T Adjust Is corrected based on the Y-axis or Z-axis of (C).
6. The robot lapping and polishing track correction method based on coordinate system integration according to claim 1, wherein the robot pose correction is: and adjusting the pose of the offline path of the robot according to the stress condition of the tool after the gravity compensation, so as to control the contact condition between the polishing tool and the workpiece, and achieve self-adaptive processing.
7. The robot lapping and polishing track correction method based on coordinate system integration according to claim 1, wherein the robot pose correction is: the adjustment direction is in an integrated coordinate system T from the vertical direction of the processing point Adjust Is calculated; calculation of contact force from tool coordinate system T Tool The direction of the resultant force is T Adjust Is determined by the fixed direction of the Y or Z coordinate axis; for absolute correction, the sensor correction is calculated in absolute form with the current nominal position of the robot or of the respective axis, the new position being the sum of the current nominal position and the correction value distance.
8. The method for correcting the grinding and polishing track of the robot based on the integration of the coordinate system according to claim 1, wherein the post-processing processes the track into a control node signal for starting and stopping the integrated grinding tool and starting and ending the track correction.
9. A robot self-adaptive grinding and polishing control system based on coordinate system correction is characterized by comprising: the system comprises an upper computer, a robot controller and a tail end force sensor; the upper computer stores a program, and when the program is loaded, the method steps of any one of claims 1-8 are executed to realize self-adaptive grinding and polishing; the robot controller is used for executing an execution program sent by the upper computer and feeding back execution data; the end force sensor is used for detecting and feeding back the contact force value in real time.
10. The coordinate system integration-based robot lapping and polishing track correction system of claim 9, wherein the upper computer performs data transmission with the robot controller and the end force sensor respectively through an ethernet UDP/IP protocol.
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| CN202310726039.0A CN116984993A (en) | 2023-06-19 | 2023-06-19 | Robot grinding and polishing track correction method and system based on coordinate system integration |
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| CN202310726039.0A CN116984993A (en) | 2023-06-19 | 2023-06-19 | Robot grinding and polishing track correction method and system based on coordinate system integration |
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