CN106182018A - A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph - Google Patents

Abstract

The invention relates to an off-line programming method for grinding and polishing industrial robots based on the three-dimensional graphics of workpieces. Through the workpiece calibration module, the homogeneous transformation matrix W of the spatial position and orientation of the workpiece coordinate system OW in the robot base coordinate system OBase is obtained through calibration; through the three-dimensional workpiece The graphics processing module discretizes the grinding and polishing path into several spatial points, outputs the three-dimensional coordinate information of each spatial point, and calculates several spatial pose homogeneous transformation matrices defined in the workpiece coordinate system OW on the grinding and polishing path of the workpiece surface R; through the tool calibration module, establish the tool end coordinate system OT at the contact position between the robot tool end and the workpiece, and calibrate to obtain the space pose homogeneous transformation matrix T of the tool end coordinate system OT in the robot base coordinate system OBase, to realize The robot is programmed offline. The invention has the beneficial effect of simplifying the off-line programming process of the grinding and polishing industrial robot without relying on off-line programming software of the robot.

Description

An off-line programming method for grinding and polishing industrial robots based on three-dimensional graphics of workpieces

technical field

The invention relates to the field of workpiece grinding and polishing control, in particular to an off-line programming method for grinding and polishing industrial robots based on three-dimensional graphics of workpieces.

Background technique

Currently, automation based on industrial robots is the best solution for both productivity and adaptability. It has been widely used in aerospace, automobile, mechanical processing and manufacturing, electronic and electrical, food production and other industrial fields. Among them, in mechanical processing and manufacturing, welding (including spot welding, arc welding), painting, assembly and handling have been studied for a long time. It has become very mature and plays an increasingly important role in practical applications. The application of robots in the field of grinding and polishing is emerging and developing rapidly. At present, it has been applied to aircraft windows made of plexiglass, the surface of rifle receivers, mold grinding and polishing, aviation ship blade grinding and polishing, bamboo and wood furniture, etc.

An industrial robot is a programmable mechanical device. It is difficult, time-consuming and expensive to program for industrial robot applications in a certain field. At present, in actual industrial applications and research, there are three main ways of industrial robot programming: online programming, offline programming, and robot programming using augmented reality technology (RPAR).

Among them, the disadvantages of online programming are as follows:

(1) Occupying the working hours of robots and automated production lines, production cannot be carried out until the program is finally compiled;

(2) The online programming takes a long time. Take the robot sand throwing system for grinding and polishing a certain type of faucet as an example. A skilled robot operator has written more than 800 programs in online programming, which takes about four working days, and the entire program runs in a cycle. The cycle only takes 2 minutes, and the programming time is about three thousand times the program running time;

(3) Uniformity and non-reusability: The obtained program is not easy to modify. Once the workpiece or any device in the work unit changes, the program is not applicable and needs to be reprogrammed, which lacks flexibility. As for the variety of tools and the singleness of the working environment, the program obtained by online programming is only applicable to the working environment with a single variety and the same conditions;

(4) The quality of the program depends greatly on the operator, and the grinding and polishing effect mainly depends on visual inspection, which requires high grinding and polishing technology for the teaching staff;

(5) Online programming is independent of CAD, and it is not easy to realize automation and intelligence of manufacturing;

(6) Operating the teaching pendant to control the robot is not intuitive enough. It is difficult and time-consuming to complete a smooth and accurate path and avoid interference, especially when the workpiece is complex and the working environment is complex;

(7) Long-term experiments and tests are required;

(8) On-site programming and testing by the operator, with obvious or potential injuries such as noise, dust, and collision.

As a major development direction of programming technology, off-line programming technology has been paid more and more attention by researchers.

With the introduction of concepts such as "Made in China 2025" and "Industry 4.0", the construction of smart factories has accelerated, and the integration of information and physical systems has developed in depth. Digital and intelligent construction has gradually been applied to products, production processes, and business operations. multiple levels. Accelerating the research and development and application of grinding and polishing robots and automated production lines plays a strategic role in important fields such as aerospace, medical equipment, precision machinery, and molds. Grinding and polishing processing environment, expanding the scale of the industry, and promoting the adjustment and upgrading of the industrial structure. The automatic generation of robot programs is an indispensable step in the realization of automatic robot production. The realization of intelligent planning and optimization of robot trajectories and automatic generation of programs is of great significance to the realization of smart factories. It is an inevitable trend to replace manual online programming with digital offline programming.

At present, the off-line programming technology has not yet reached the level of effective actual production, and there are still many problems to be solved in terms of the versatility, accuracy and effectiveness of off-line programming. The existing off-line programming methods generally have the problems of cumbersome operation process and inaccurate results. For example, the Chinese invention patent "A method and device for realizing off-line programming of six-axis polishing and polishing manipulator" (application number 201310750143.X) has published a A kind of off-line programming software quickly generates a grinding program for grinding complex curved surfaces, the method includes: calibrate the relative position of the six-axis polishing and grinding mechanical arm and the grinding tool in the off-line programming software; generate grinding trajectory points; establish a three-dimensional model of the system And convert the format of the 3D model; import the converted 3D model into the off-line programming software and import the grinding track points into the converted 3D model; The converted 3D model generates a grinding program. This method is calibrated in off-line programming software, without considering the error between the 3D model in the software and the actual equipment, and the validity and accuracy of the program generated by this method cannot be guaranteed.

Chinese invention patent "Robot offline programming and on-site debugging seamless connection method" (application number 200810147853.2), the invention is a robot off-line programming and on-site debugging seamless connection method, including the design of the three-dimensional model of the fixture and robot tools, and combining them Import the robot model into the offline programming software to check the process feasibility of the fixture, robot tool and robot. According to the installation position of the fixture, robot and robot tool, install the actual object in place so that the installation of the robot tool in the offline programming software is the same as the actual installation. The situation is consistent. Measure the relative position of the coordinate system of the fixture that is actually installed in place in the robot base coordinate system. The measurement results. Calibrate the installation position of the fixture relative to the robot in the off-line programming software to make it consistent with the actual installation situation. Pass the measurement and calibration Finally, the robot program is generated and imported into the robot to directly use the program to complete actual production. The program generated by the method can be directly used in actual production, truly achieving seamless connection between off-line programming and on-site debugging. This method needs to generate programs in the robot offline programming software, that is to say, the realization of this method needs to rely on the robot offline programming software. The offline programming software is divided into general offline programming software and robot manufacturer supporting offline programming software. Operators have certain requirements, and the off-line programming software provided by robot manufacturers is only for their own robots, which has certain limitations.

Contents of the invention

The object of the present invention is to address the above deficiencies and provide an off-line programming method for grinding and polishing industrial robots based on three-dimensional graphics of workpieces, which combines online calibration with off-line calculations, and can quickly realize the generation of robot grinding and polishing operation programs.

The solution adopted by the present invention to solve the technical problem is: an off-line programming method for grinding and polishing industrial robots based on three-dimensional graphics of workpieces, comprising the following steps:

Step S0: obtain the three-dimensional graphics of the workpiece by three-dimensional software;

Step S1: use the workpiece calibration module to establish a workpiece coordinate system OW on the workpiece, and calibrate to obtain the homogeneous transformation matrix W of the spatial pose and orientation of the workpiece coordinate system OW in the robot base coordinate system OBase;

Step S2: Through the workpiece three-dimensional graphics processing module, it is used to generate the grinding and polishing path on the three-dimensional graphics surface of the workpiece, discretize the grinding and polishing path into several spatial points, output the three-dimensional coordinate information of each spatial point, and calculate the grinding and polishing of the workpiece surface Several space pose homogeneous transformation matrices R defined in the workpiece coordinate system OW on the path;

Step S3: Through the tool calibration module, establish the tool end coordinate system OT at the contact position between the robot tool end and the workpiece, and calibrate to obtain the space pose homogeneous transformation matrix T of the tool end coordinate system OT in the robot base coordinate system OBase;

Step S4: through the robot motion simulation module, the target point data obtained by the space pose homogeneous matrix R, the tool data obtained by the space pose homogeneous transformation matrix T, and the workpiece data obtained by the space pose homogeneous transformation matrix W, Combined with the inverse kinematics calculation of the robot, six joint angle values in the state of each target point in the robot motion trajectory are obtained, and the joint angle constraints are set with these six joint angle values to realize robot motion simulation;

Step S5: Compile the calculated position and attitude information of each target point state in the trajectory of the robot into the programming language used by the robot through the robot program production module.

Further, in step S1, the workpiece coordinate system OW is calibrated by a three-point calibration method.

Further, the workpiece coordinate system OW is established at a vertex of the cuboid at the bottom of the workpiece, and a tool with known three-dimensional dimensions is installed at the end of the robotic arm of the robot. point contact, and obtain the coordinate values of the three points on the workpiece surface in the robot base coordinate system OBase, thereby obtaining the space pose homogeneous transformation matrix W of the workpiece coordinate system OW in the robot base coordinate system OBase.

Further, the tool end coordinate system is established at the contact point between the tool end and the workpiece, and the tool end coordinate system OT is calibrated by the three-point five-step method.

Further, the three-point-five-step calibration tool end coordinate system includes the following steps:

Step S30: Manually control the mechanical arm through the robot teach pendant to keep the end of the tool in contact with the first fixed point in space in the first posture, the second posture and the third posture in sequence, and maintain the position of the first posture, the second posture and the third posture At the first fixed point, the pose of the first step, the pose of the second step and the pose of the third step are respectively formed;

Step S31: keep the third pose unchanged, and translate a certain distance along the X-axis of the robot base coordinate system to the second fixed point to form the fourth pose;

Step S33: keep the third pose unchanged, and translate a certain distance from the second fixed point along the Z-axis of the robot base coordinate system to the third fixed point to form the fifth step pose;

Step S34: According to the coordinates of the first fixed point, the second fixed point and the third fixed point and the pose of the first step, the second step, the third step, the fourth step and the fifth step Corresponding to the joint angle information of the robot, the tool end coordinate system OT is generated by the robot controller.

Further, in the step S2, the space pose homogeneous transformation matrix R is obtained through the following steps:

Step S21: using the surface curve tool in the 3D software to generate a surface curve, selecting several grinding and polishing paths, each grinding and polishing path is composed of two adjacent surface curves with the same shape;

Step S22: Select two surface curves corresponding to one of the grinding and polishing paths, and evenly arrange 10-20 spatial points on each surface curve of the grinding and polishing path; Set another space point at 2-3mm in front of the space point, and use the three adjacent space points on the two surface curves of the grinding and polishing path as a group of space points to obtain several groups of space points;

Step S23: output the coordinate information of three spatial points in each group of spatial points;

Step S24: generating several coordinate systems generated by three spatial points in each group of spatial points;

Step S25: Calculate and obtain the space pose homogeneous transformation matrix R of the coordinate system in step S14 in the workpiece coordinate system OW through the three-point calibration method.

Further, in the step S2, the grinding and polishing path curve is manually drawn on the surface of the three-dimensional graphics of the workpiece.

Compared with the prior art, the present invention has the following beneficial effects: it does not need to rely on off-line programming software of the robot, and simplifies the off-line programming process of the grinding and polishing industrial robot. The invention combines on-line calibration and off-line calculation, has practicability, and can quickly generate a grinding and polishing industrial robot program applied to grinding and polishing workpieces with complex surfaces.

Description of drawings

Below in conjunction with accompanying drawing, the patent of the present invention is further described.

FIG. 1 is a schematic flowchart of an off-line programming method for a grinding and polishing industrial robot based on a three-dimensional graphic of a workpiece according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of the conversion relationship of the coordinate system of the off-line programming method of the grinding and polishing industrial robot based on the three-dimensional graphics of the workpiece according to the embodiment of the present invention.

Fig. 3 is a schematic diagram of a grinding and polishing path generated on the surface of a workpiece three-dimensional graphic in an off-line programming method for a grinding and polishing industrial robot based on a three-dimensional graphic of a workpiece according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a coordinate system generated by the three-point method of the off-line programming method of the grinding and polishing industrial robot based on the three-dimensional graphics of the workpiece according to the embodiment of the present invention.

Fig. 5 is a schematic diagram of workpiece calibration in an off-line programming method for grinding and polishing industrial robots based on three-dimensional graphics of workpieces according to an embodiment of the present invention.

Fig. 6 is a schematic diagram of the three-point-five-step tool calibration method of the off-line programming method of the grinding and polishing industrial robot based on the three-dimensional graphics of the workpiece according to the embodiment of the present invention.

In the figure: 1-robot; 10-mechanical arm; 11-tool end; 2-workpiece; 3-grinding and polishing path; 30-space point.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 to 6, an off-line programming method for grinding and polishing industrial robots based on three-dimensional graphics of workpieces in this embodiment includes the following steps:

Step S0: Obtain the three-dimensional graphics of the workpiece 2 by three-dimensional software;

Step S1: use the workpiece calibration module to establish a workpiece coordinate system OW on the workpiece 2, and calibrate to obtain the homogeneous transformation matrix W of the spatial pose and orientation of the workpiece coordinate system OW in the robot base coordinate system OBase;

Step S2: use the workpiece three-dimensional graphics processing module to generate the grinding and polishing path 3 on the three-dimensional graphics surface of the workpiece 2, discretize the grinding and polishing path 3 into several spatial points 30, output the three-dimensional coordinate information of each spatial point 30, and calculate Obtain several space pose homogeneous transformation matrices R defined in the workpiece coordinate system OW on the grinding and polishing path 3 on the surface of the workpiece 2;

Step S3: Through the tool calibration module, establish the tool end coordinate system OT at the contact position between the tool end 11 of the robot 1 and the workpiece 2, and calibrate to obtain the spatial pose alignment of the tool end 11 coordinate system OT in the robot 1 base coordinate system OBase secondary transformation matrix T;

Step S4: Through the motion simulation module of the robot 1, the target point data obtained by the space pose homogeneous matrix R, the tool data obtained by the space pose homogeneous transformation matrix T, and the workpiece 2 obtained by the space pose homogeneous transformation matrix W The data is combined with the inverse kinematics calculation of robot 1 to obtain six joint angle values in the state of each target point in the trajectory of robot 1, and the joint angle constraints are set with these six joint angle values to realize the motion simulation of robot 1;

Step S5: Compile the calculated position and attitude information of each target point state in the trajectory of the robot 1 into the programming language used by the robot 1 through the program production module of the robot 1 .

From the above, it can be seen that the beneficial effect of the present invention is that the present invention performs off-line programming by combining the three-dimensional graphics of the workpiece 2 with the industrial robot 1, without relying on the off-line programming software of the robot 1, and simplifies the off-line programming process of the grinding and polishing industrial robot 1 .

As shown in Figure 1, the tool end 11 in the robot 11 is in contact with the workpiece 2 for grinding and polishing. When the program starts, the base coordinate system OBase of the industrial robot 1 is first established. In S1, the workpiece coordinate system OW and the tool end coordinate system OT are calibrated by the three-point calibration method. The three-point method to calibrate the coordinate system includes the following steps:

As shown in Figure 4, three points are preset on the workpiece or tool, marked as: A (x1, y1, z1), B (x2, y2, z2) and C (x3, y3, z3), through the following The formula obtains the coordinate system with point B as the origin, point B to point A as the Z axis, and point C falling in the ZOY plane:

a=(z3-z1)*(y2-y1)-(y3-y1)*(z2-z1);

b=(z2-z1)*(x3-x1)-(z3-z1)*(x2-x1);

c=(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1);

Nx=a/((a^2+b^2+c^2)^(1/2));

Ny=b/((a^2+b^2+c^2)^(1/2));

Nz=c/((a^2+b^2+c^2)^(1/2));

Ax=(x1-x2)/ (((x1-x2)^2+(y1-y2)^2+(z1-z2)^2)^(1/2));

Ay=(y1-y2)/ (((x1-x2)^2+(y1-y2)^2+(z1-z2)^2)^(1/2));

Az=(z1-z2)/ (((x1-x2)^2+(y1-y2)^2+(z1-z2)^2)^(1/2));

Ox= Ay* Nz- Ny* Az;

Oy= Az* Nx- Nz* Ax;

Oz= Ax* Ny- Nx* Ay;

get R,

R=[Nx,Ox,Ax,x2

Ny, Oy, Ay, y2

Nz, Oz, Az, z2

0, 0, 0, 1].

Among them, the normal vector of the ZOY plane is the X-axis direction vector, let the X-axis direction vector OX (a, b, c),

Nx is the component of the X-axis unit vector of the grinding and polishing path point coordinate system R on the X-axis in the workpiece coordinate system OW, and Ny is the component of the X-axis unit vector of the grinding and polishing path point coordinate system R in the workpiece coordinate system OW Component on the Y axis, Nz is the component of the unit vector of the X axis of the grinding and polishing path point coordinate system R on the Z axis in the workpiece coordinate system OW; Ox is the unit vector of the Y axis of the grinding and polishing path point coordinate system R in The component on the X axis in the workpiece coordinate system OW, Oy is the component of the unit vector of the Y axis of the grinding and polishing path point coordinate system R on the Y axis in the workpiece coordinate system OW, and Oz is the component of the grinding and polishing path point coordinate system R The component of the unit vector of the Y axis on the Z axis in the workpiece coordinate system OW; Ax is the component of the unit vector of the Z axis of the grinding and polishing path point coordinate system R on the X axis in the workpiece coordinate system OW, and Ay is the grinding and polishing The component of the unit vector of the Z axis of the path point coordinate system R on the Y axis in the workpiece coordinate system OW, Az is the component of the Z axis unit vector of the grinding and polishing path point coordinate system R on the Z axis of the workpiece coordinate system OW portion.

In this embodiment, in step S1, the workpiece coordinate system OW is calibrated by a three-point calibration method.

In this embodiment, the workpiece coordinate system OW is established at a vertex of the cuboid at the bottom of the workpiece 2, and a tool with known three-dimensional dimensions is installed at the end of the mechanical arm 10 of the robot 1, and the end of the tool is placed on the end of the tool through the robot 1 teach pendant. 11 Contact with the preset three points on the surface of the workpiece 2, and obtain the coordinate values of the three points on the surface of the workpiece 2 in the base coordinate system OBase of the robot 1, thereby obtaining the spatial position of the workpiece coordinate system OW in the base coordinate system OBase of the robot 1 Orthohomogeneous transformation matrix W. As shown in FIG. 5 , one of the preset three points is located at a vertex of the cuboid on the top of the workpiece 2 , and this vertex is taken as the origin of the workpiece coordinate system OW.

In this embodiment, the tool end 11 coordinate system is established at the contact point between the tool end 11 and the workpiece 2, and the tool end coordinate system OT is calibrated by a three-point five-step method.

In this embodiment, the three-point-five-step method for calibrating the tool end coordinate system includes the following steps:

Step S30: Manually control the mechanical arm 10 through the teaching pendant of the robot 1 to keep the end of the tool 11 in contact with the first fixed point in space in the first posture, the second posture and the third posture in sequence, the first posture, the second posture and the third posture The posture position remains unchanged at the first fixed point, forming the first-step pose, the second-step pose and the third-step pose respectively;

Step S31: keep the third pose unchanged, and translate a certain distance along the X-axis of the robot base coordinate system to the second fixed point to form the fourth pose;

Step S33: keep the third posture unchanged, and translate a certain distance from the second fixed point along the Z-axis of the robot base coordinate system to the third fixed point to form the fifth step pose;

Step S34: According to the coordinates of the first fixed point, the second fixed point and the third fixed point and the pose of the first step, the second step, the third step, the fourth step and the fifth step Corresponding to the joint angle information of the robot, the tool end coordinate system OT is generated by the robot controller.

In this embodiment, in the step S2, the space pose homogeneous transformation matrix R is obtained through the following steps:

Step S21: using the surface curve tool in the 3D software to generate a surface curve, selecting several grinding and polishing paths 3, each grinding and polishing path 3 is composed of two adjacent surface curves with the same shape;

Step S22: Select two surface curves corresponding to one of the grinding and polishing paths 3, and evenly arrange 10-20 space points 30 on each surface curve of the grinding and polishing path 3; Another space point 30 is set at 2-3mm in front of the space point 30 of the surface curve of the surface curve, and three space points 30 adjacent to each other on the two surface curves of the grinding and polishing path 3 are used as a group of space points 30 to obtain several group space point 30;

Step S23: output the coordinate information of three spatial points 30 in each group of spatial points 30;

Step S24: generating several coordinate systems generated by three spatial points 30 in each group of spatial points 30;

Step S25: Calculate and obtain the space pose homogeneous transformation matrix R of the coordinate system in step S14 in the workpiece coordinate system OW through the three-point calibration method.

In step S21, use the "surface curve" tool in the 3D software, select the surface that needs to be built with a surface curve, and set the number of U and V lines. If the grinding and polishing workpiece 2 is a faucet, set the U and V lines according to the complexity of the surface The numbers are 10-20, and the 3D software generates surface curves on the selected surface. At this time, some unnecessary surface curves can be removed according to needs, and the surface curves as grinding and polishing path 3 and the adjacent surface curves can be reserved. The surface of a workpiece 2 includes several grinding and polishing paths 3, and a total of 10 grinding and polishing paths 3 are set according to the complexity of the curved surface and the width of the grinding and polishing tool. One grinding and polishing path 3 corresponds to two adjacent surface curves with similar shapes.

In step S23, there are two ways to output the three-dimensional coordinate information of the spatial point 30: one is to manually select the target spatial point 30, and manually record the displayed coordinate values; The function of the program is to output the coordinate values of the points in batches.

In step S25, firstly, transform the space pose homogeneous transformation matrix R into a coordinate value representing a position and a quaternion representing an attitude, several spaces defined in the coordinate system of the workpiece 2 on the grinding and polishing path 3 on the surface of the workpiece 2 The pose homogeneous transformation matrix is R as follows:

R=[Nx,Ox,Ax,Px

Ny, Oy, Ay, Py

Nz, Oz, Az, Pz

0, 0, 0, 1];

Then the origin coordinate value is [Px, Py, Pz]; the quaternion representing the attitude is [Q1, Q2, Q3, Q4];

in

Q1 =((Nx + Oy + Az+1)^(1/2))/2;

Q2= (Oz-Ay)/(4*Q1);

Q3= (Ax - Nz)/(4*Q1);

Q4=(Ny-Ox)/(4*Q1).

In this embodiment, in the step S2, the grinding and polishing path curve is manually drawn on the three-dimensional graphic surface of the workpiece 2 .

In summary, the present invention provides an off-line programming method for grinding and polishing industrial robots based on three-dimensional graphics of workpieces, which combines three-dimensional graphics of workpieces with industrial robots, and does not need to rely on offline programming software for robots. The process is simplified.

The above-listed preferred embodiments have further described the purpose, technical solutions and advantages of the present invention in detail. It should be understood that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., shall be included within the protection scope of the present invention.

Claims (7)

1. a grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph, it is characterised in that include following step Rapid:

Step S0: obtained the 3-D graphic of workpiece by three-dimensional software；

Step S1: by part calibration module, for setting up a workpiece coordinate system OW on workpiece, and demarcates this workpiece of acquisition Coordinate system OW spatial pose homogeneous transform matrix W in basis coordinates system of robot OBase；

Step S2: by workpiece three-dimensional graph processing module, in the 3-D graphic Surface Creation grinding and polishing path of workpiece, will grind Throw path discrete for several spatial point, export the three-dimensional coordinate information of each spatial point, be calculated surface of the work grinding and polishing road Spatial pose homogeneous transform matrix R during several are defined on workpiece coordinate system OW on footpath；

Step S3: by tool calibration module, set up tool tip coordinate in robot tool end and absorption surface position It is OT, and demarcates acquisition this tool tip coordinate system OT spatial pose homogeneous transformation square in basis coordinates system of robot OBase Battle array T；

Step S4: by robot motion's emulation module, the impact point data that spatial pose homogeneous matrix R is obtained, space bit The tool data that appearance homogeneous transform matrix T obtains, and the workpiece data that spatial pose homogeneous transform matrix W obtains, in conjunction with machine Device people's the computation of inverse-kinematics obtains six joint angle value in robot motion's track under each impact point state, with these six passes Joint angle value arranges joint angle constraint, it is achieved robot motion emulates；

Step S5: produce module by robot program and will calculate the position of each impact point state in gained robot motion's track Put and work out, with attitude information, the program language used by robot.

A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 1, its It is characterised by: in step sl, demarcates workpiece coordinate system OW by 3 standardizitions.

A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 2, its It is characterised by: described workpiece coordinate system OW builds on an apex of cuboid bottom workpiece, at the mechanical arm end of robot End installs instrument known to a three-dimensional dimension, is connect by three points that tool tip and surface of the work are preset by robot demonstrator Touch, obtain these three points of surface of the work coordinate figure in basis coordinates system of robot OBase, thus obtain workpiece coordinate system OW and exist Spatial pose homogeneous transform matrix W in basis coordinates system of robot OBase.

A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 3, its It is characterised by: at tool tip with absorption surface, set up tool tip coordinate system, use 3 five-step approach calibration tool ends Coordinate system OT.

A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 4, its It is characterised by: described 3 five-step approach calibration tool ending coordinates systems comprise the following steps:

Step S30: protected with the first attitude, the second attitude and the 3rd attitude successively by robot demonstrator Non-follow control mechanical arm Holding tool tip and the first fixed-point contact in space, it is solid that the first attitude, the second attitude and the 3rd posture position are maintained at first The constant first step pose of formation respectively, second step pose and the 3rd step appearance at fixed point；

Step S31: keep the 3rd attitude constant, the X-axis along basis coordinates system of robot translates specific range to the second fixing point, shape Become the 4th step appearance；

Step S33: keep the 3rd attitude constant, from the second fixing point along the Z axis of basis coordinates system of robot translation specific range to 3rd fixing point, forms the 5th step appearance；

Step S34: according to the first fixing point, the second fixing point and the coordinate of the 3rd fixing point and first step pose, second step The joint angle information of the robot that pose, the 3rd step appearance, the 4th step appearance are corresponding with the 5th step appearance, by robot controller Core Generator ending coordinates system OT.

A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 1, its It is characterised by: in described step S2, especially by following steps acquisition spatial pose homogeneous transform matrix R:

Step S21: use the surface curve instrument in three-dimensional software to generate surface curve, chooses some grinding and polishing paths, every The surface curve that grinding and polishing path is adjacent by two and shape is consistent forms；

Step S22: choose two surface curve that wherein a grinding and polishing path is corresponding, in every surface curve in this grinding and polishing path Upper uniformly 10-20 spatial point of laying；Respectively in the front of spatial point of the surface curve being located along on the right side of grinding and polishing path direction One spatial point is set at 2-3mm again, using three spatial point adjacent in two surface curve in grinding and polishing path as one Group spatial point, obtains some groups of spatial point；

Step S23: the coordinate information of three spatial point in output often group spatial point；

Step S24: generate several coordinate systems generated by three spatial point often organized in spatial point；

Step S25: the coordinate system being calculated in step S14 by 3 standardizitions spatial pose in workpiece coordinate system OW Homogeneous transform matrix R.

A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 1, its It is characterised by: in described step S2, at workpiece three-dimensional graph surface hand drawn grinding and polishing path curve.