CN116160300B - A collaborative robot grinding and polishing process control method - Google Patents
A collaborative robot grinding and polishing process control method Download PDFInfo
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- CN116160300B CN116160300B CN202310197540.2A CN202310197540A CN116160300B CN 116160300 B CN116160300 B CN 116160300B CN 202310197540 A CN202310197540 A CN 202310197540A CN 116160300 B CN116160300 B CN 116160300B
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000007517 polishing process Methods 0.000 title claims abstract description 24
- 238000005498 polishing Methods 0.000 claims abstract description 120
- 230000005484 gravity Effects 0.000 claims abstract description 19
- 239000011159 matrix material Substances 0.000 claims description 42
- 230000009466 transformation Effects 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000003068 static effect Effects 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 3
- 238000011426 transformation method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims 1
- 230000026058 directional locomotion Effects 0.000 claims 1
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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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
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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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- 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
-
- 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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- Engineering & Computer Science (AREA)
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method of a grinding and polishing process of a cooperative robot, which comprises the following steps: step 1: a six-dimensional force/moment sensor is arranged between the tail end of the robot and the polishing tool, and the initial value of the six-dimensional force/moment sensor and the gravity parameter of the polishing tool are automatically distinguished; step 2: calibrating a user coordinate system of a workpiece to be polished, and recording a polishing track in teaching; step 3: when the polishing operation is executed, the contact force between the polishing tool and the polishing surface and the posture of the polishing tool are regulated according to the feedback force and the force position mixed control acquired by the six-dimensional force/torque sensor, and the polishing operation is completed. The method of the invention uses a force-position mixed control method, realizes the function of finishing grinding and polishing operation by the cooperative robot, replaces manual work by the robot, improves grinding and polishing effect and improves labor environment.
Description
Technical Field
The invention belongs to the technical field of polishing processing control, and relates to a polishing process control method of a cooperative robot.
Background
At present, with the rising of new generation industrial robots, cooperative robot control technology is widely paid attention to and widely applied. The polishing and burnishing is the most basic process in the 3C field, automobile parts, hardware, die castings, ceramic products and other traditional manufacturing industries, and the cooperative robot is used for realizing the polishing and burnishing function, so that the cooperative robot polishing and burnishing process with excellent effect, high stability and simple and convenient operation has important significance.
At present, some robot products are divided into two types by using a control interface provided by a force sensor, the first type of robot only needs to move a fixed track, the passive compliance is implemented by a grinding and polishing tool integrating force sensing and hydraulic equipment, and the adaptive workpiece subjected to grinding and polishing is only suitable for workpieces which are produced in a large scale and have a flat surface; the second type can realize active force control, but does not aim at polishing alone, but is a force control related function set, motion in the polishing process teaches polishing tracks by means of joint-like motion or linear motion instructions, operation is complex, teaching effects are difficult to ensure, if offline programming software or a visual sensor is used for generating polishing surface tracks, use cost is greatly increased, and production efficiency is seriously influenced for products (such as molds) which do not need mass production.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a control method of a grinding and polishing process of a cooperative robot, which comprises the steps of carrying a six-dimensional force/moment sensor at the tail end of the cooperative robot to obtain contact force/moment between a grinding and polishing tool and a grinding and polishing surface, and enabling the cooperative robot to keep constant contact force when the grinding and polishing tool is driven to move on the ground and polishing surface through force-position mixed control; if the polished surface is a curved surface, the tool and the curved surface can be always kept attached, so that the polishing operation is completed.
The invention provides a control method of a grinding and polishing process of a cooperative robot, which comprises the following steps:
Step 1: a six-dimensional force/moment sensor is arranged between the tail end of the robot and the polishing tool, and the initial value of the six-dimensional force/moment sensor and the gravity parameter of the polishing tool are automatically distinguished;
step 2: calibrating a user coordinate system of a workpiece to be polished, and recording a polishing track in teaching;
Step 3: when the polishing operation is executed, the contact force between the polishing tool and the polishing surface and the posture of the polishing tool are regulated according to the feedback force and the force position mixed control acquired by the six-dimensional force/torque sensor, and the polishing operation is completed.
In the control method of the cooperative robot polishing process of the present invention, the initial values of the six-dimensional force/torque sensor in the step 1 are as follows: force of the sensor in the X-axis, Y-axis and Z-axis directions and moment of the sensor in the X-axis, Y-axis and Z-axis directions; the gravity parameters of the polishing tool are as follows: tool gravity G T and tool centroid coordinate L x Ly Lz.
In the control method of the grinding and polishing process of the cooperative robot, the process of teaching and recording the grinding and polishing track in the step 2 comprises two modes according to actual application scenes:
the first mode aims at the belt-shaped grinding and polishing track, teaching is carried out through a manual dragging robot, and the grinding and polishing track is automatically recorded while dragging;
the second mode aims at the block polishing area, and four vertexes of any trapezoid or three vertexes of a triangle are marked in the polishing area to teach the polishing area.
In the cooperative robot polishing process control method of the invention, the step 3 specifically comprises the following steps:
step 3.1: the feedback force collected by the six-dimensional force/torque sensor is sent to the controller;
Step 3.2: performing gravity compensation and static force conversion on the feedback force to calculate the equivalent contact force between the grinding and polishing tool and the grinding and polishing surface;
step 3.3: acquiring the total speed of the tail end of the robot in the Cartesian space based on the force-position hybrid control;
Step 3.4: based on differential transformation of a Jacobian matrix of the robot, obtaining angular velocities of all joints of the robot in a joint space according to the total velocity of the tail end of the robot in a Karl space;
Step 3.5: and obtaining the target position of each joint in each control period according to the angular speed of each joint of the robot in the joint space, and finishing the polishing operation.
In the control method of the cooperative robot polishing process of the present invention, the feedback force F S in the step 3.1 is in a six-dimensional force/moment form:
FS＝(fx fy fz tx ty tz)T
Wherein, f x、fy、fz is the force in the X axis, Y axis and Z axis directions, and t x、ty、tz is the moment in the X axis, Y axis and Z axis directions; the calculating box of the six-dimensional force/moment sensor is connected with the controller through a network cable, data transmission is carried out through a UDP protocol, and the synchronization period is kept consistent with the control period.
In the cooperative robot polishing process control method of the present invention, the step 3.2 specifically includes:
Step 3.2.1: let the position of the sensor coordinate system S in the base coordinate system be described by the rotation matrix R as follows:
Wherein is a unit direction vector of the sensor coordinate system/> axis in the base coordinate system,/> is a unit direction vector of the sensor coordinate system/> axis in the base coordinate system,/> is a unit direction vector of the sensor coordinate system/> axis in the base coordinate system;
Step 3.2.2: the force applied to the sensor due to the gravity of the polishing tool is obtained as follows:
FG＝[Gx Gy Gz Mx My Mz]T
wherein the method comprises the steps of ,Gx＝axGT、Gy＝ayGT、Gz＝azGT、Mx＝GzLy-GyLz、My＝GxLz-GzLx、Mz＝GyLx-GxLy;
Step 3.2.3: performing static conversion of a sensor coordinate system S and a tool coordinate system T, and equating the stress of the sensor to an equivalent contact force F T between the grinding and polishing tool and the grinding and polishing surface:
Wherein is the jacobian matrix of the sensor coordinate system S to the tool coordinate system T; the homogeneous transformation matrix/> for the tool coordinate system T with respect to the sensor coordinate system S is as follows:
the concrete form of is obtained as follows:
Wherein is a rotation matrix of the tool coordinate system T with respect to the sensor coordinate system S, and/() is a position coordinate of an origin of the tool coordinate system T in the sensor coordinate system S.
In the cooperative robot polishing process control method of the present invention, the step 3.3 specifically includes:
step 3.3.1: in Cartesian space, translational movements of the grinding and polishing tool end points along the axis, the/> axis and the/> axis of a tool coordinate system are respectively called P x、Py and P z directions, and rotational movements of the grinding and polishing tool end points along the/> axis, the/> axis and the/> axis of the tool coordinate system are respectively called R x、Ry and R z directions; the admittance control theory is selected to control the force in the direction P z/Rx/Ry, the expected contact force between the grinding and polishing tool and the grinding and polishing surface in the grinding and polishing process is f D, and the expected force is 0 around the x axis and the y axis because the grinding and polishing tool and the grinding and polishing surface are always attached, and is:
FD＝(00fD 000)T
The robot tip acceleration in cartesian space is obtained from admittance control as follows:
x e、 is the position, the speed and the acceleration deviation of the tail end of the robot, x e is obtained by taking the difference between the expected position x D and the current actual position x 0 to obtain x e＝xD-x0, the same thing/> M, B, K is a 6 x 6 parameter matrix which is respectively called an inertia matrix, a damping matrix and a rigidity matrix, and each value is specified by a developer according to the characteristics of the robot body and the actual debugging effect;
step 3.3.2: the robot tip speed in cartesian space is as follows:
Wherein and/> are the current actual speed and acceleration of the robot tip, respectively;
Step 3.3.3: according to the polishing track recorded in the teaching, the speed of the tail end of the robot in the Cartesian space is obtained through track planning, and the speed obtained by the position control and the force control is not coupled in the Cartesian space, so that the total speed of the tail end of the robot is directly obtained:
In the cooperative robot polishing process control method of the present invention, the step 3.4 specifically includes:
According to the differential motion transformation of the robot, the angular velocity of the robot motion in the joint space is obtained:
wherein J (q) is a robot Jacobian matrix, and is solved by a homogeneous transformation matrix among joints in kinematics by using a differential transformation method; for a robot with n joints, assuming that the homogeneous transformation matrix from the i-1 joint to the i joint is , the homogeneous transformation matrix/> from the i joint to the n joint at the end is:
wherein, the ith column J i of jacobian matrix J (q) is as follows:
The control method of the grinding and polishing process of the cooperative robot has at least the following beneficial effects:
(1) The control method for finishing the polishing operation by the cooperative robot is realized, and the polishing degree is more accurate and the polishing effect is better by taking the quantifiable contact force as feedback;
(2) The robot is used for replacing the manpower, so that the worker is prevented from working in a dust environment, and the labor cost of enterprises is saved;
(3) The operation of the user is simple, no gate is used, and no special training is needed;
(4) And the off-line programming software or a visual sensor is not required to be matched, so that the cost is saved.
Drawings
FIG. 1 is a flow chart of a cooperative robot polishing process control method of the present invention;
FIG. 2 is a graph of a quadrilateral arcuate traversal trajectory;
FIG. 3 is a triangle arch traversal trajectory;
fig. 4 is a quadrilateral co-directional bar track.
Detailed Description
As shown in fig. 1, the control method of the polishing process of the cooperative robot comprises the following steps:
step 1: and installing a six-dimensional force/moment sensor between the tail end of the robot and the polishing tool, and automatically distinguishing the initial value of the six-dimensional force/moment sensor and the gravity parameter of the polishing tool.
The initial values of the six-dimensional force/torque sensor are: force of the sensor in the X-axis, Y-axis and Z-axis directions and moment of the sensor in the X-axis, Y-axis and Z-axis directions.
The gravity parameters of the polishing tool are as follows: tool gravity G T and tool centroid coordinate L x Ly Lz.
Step 2: calibrating a user coordinate system of a workpiece to be polished, and recording a polishing track in teaching.
In specific implementation, the process of teaching and recording the grinding and polishing track comprises two modes according to actual application scenes:
the first mode aims at the belt-shaped grinding and polishing track, teaching is carried out through a manual dragging robot, and the grinding and polishing track is automatically recorded while dragging;
the second mode aims at the block polishing area, and four vertexes of any trapezoid or three vertexes of a triangle are marked in the polishing area to teach the polishing area.
Step 3: when the polishing operation is executed, the contact force between the polishing tool and the polishing surface and the posture of the polishing tool are regulated according to the feedback force and the force position mixed control acquired by the six-dimensional force/torque sensor, and the polishing operation is completed, wherein the step 3 specifically comprises the following steps:
Step 3.1: and sending the feedback force acquired by the six-dimensional force/torque sensor to the controller.
Feedback force F S is in the form of six-dimensional force/moment:
FS＝(fx fy fz tx ty tz)T
Wherein, f x、fy、fz is the force in the X axis, Y axis and Z axis directions, and t x、ty、tz is the moment in the X axis, Y axis and Z axis directions; the calculating box of the six-dimensional force/moment sensor is connected with the controller through a network cable, data transmission is carried out through a UDP protocol, and the synchronization period is kept consistent with the control period, and the period is 16ms in the embodiment.
Step 3.2: and carrying out gravity compensation and static force conversion on the feedback force to calculate the equivalent contact force between the grinding and polishing tool and the grinding and polishing surface.
In specific implementation, the feedback force obtained in step 3.1 is actually the stress of the sensor end element, and needs to be processed to offset the component generated by self gravity of the polishing tool, which needs to use the tool gravity parameters, specifically:
Step 3.2.1: let the position of the sensor coordinate system S in the base coordinate system be described by the rotation matrix R as follows:
Wherein is a unit direction vector of the sensor coordinate system/> axis in the base coordinate system,/> is a unit direction vector of the sensor coordinate system/> axis in the base coordinate system,/> is a unit direction vector of the sensor coordinate system/> axis in the base coordinate system;
Step 3.2.2: the force applied to the sensor due to the gravity of the polishing tool is obtained as follows:
FG＝[Gx Gy Gz Mx My Mz]T
wherein the method comprises the steps of ,Gx＝axGT、Gy＝ayGT、Gz＝azGT、Mx＝GzLy-GyLz、My＝GxLz-GzLx、Mz＝GyLx-GxLy;
Step 3.2.3: performing static conversion of a sensor coordinate system S and a tool coordinate system T, and equating the stress of the sensor to an equivalent contact force F T between the grinding and polishing tool and the grinding and polishing surface:
Wherein is the jacobian matrix of the sensor coordinate system S to the tool coordinate system T; the homogeneous transformation matrix/> for the tool coordinate system T with respect to the sensor coordinate system S is as follows:
The concrete form of is obtained as follows:
Wherein is a rotation matrix of the tool coordinate system T with respect to the sensor coordinate system S, and/() is a position coordinate of an origin of the tool coordinate system T in the sensor coordinate system S.
Step 3.3: the total speed of the tail end of the robot in the Cartesian space is obtained based on force-position hybrid control, and the method specifically comprises the following steps:
Step 3.3.1: in Cartesian space, translational movements of the polishing tool tip along the axis,/> axis and/> axis of the tool coordinate system are referred to as P x、Py and P z directions, respectively, and rotational movements of the polishing tool tip along the/> axis,/> axis and/> axis of the tool coordinate system are referred to as R x、Ry and R z directions, respectively. The admittance control theory is selected to control the force in the direction P z/Rx/Ry, the expected contact force between the grinding and polishing tool and the grinding and polishing surface in the grinding and polishing process is f D, and the expected force is 0 around the x axis and the y axis because the grinding and polishing tool and the grinding and polishing surface are always attached, and is:
FD＝(00fD 000)T
The robot tip acceleration in cartesian space is obtained from admittance control as follows:
X e、 is the position, the speed and the acceleration deviation of the tail end of the robot, x e is obtained by taking the difference between the expected position x D and the current actual position x 0 to obtain x e＝xD-x0, the same thing/> M, B, K is a 6 x 6 parameter matrix which is respectively called an inertia matrix, a damping matrix and a rigidity matrix, and each value is specified by a developer according to the characteristics of the robot body and the actual debugging effect;
step 3.3.2: the robot tip speed in cartesian space is as follows:
Wherein and/> are the current actual speed and acceleration of the robot tip, respectively;
Step 3.3.3: according to the polishing track recorded in the teaching, the speed of the tail end of the robot in the Cartesian space is obtained through track planning, and the speed obtained by the position control and the force control is not coupled in the Cartesian space, so that the total speed of the tail end of the robot is directly obtained:
Step 3.4: based on differential transformation of a jacobian matrix of the robot, according to the total terminal speed of the robot in the Karl space, the angular speed of each joint of the robot in the joint space is obtained, specifically:
According to the differential motion transformation of the robot, the angular velocity of the robot motion in the joint space is obtained:
Wherein J (q) is a robot Jacobian matrix, and is solved by a homogeneous transformation matrix among joints in kinematics by using a differential transformation method; for a robot with n joints, assuming that the homogeneous transformation matrix from the i-1 joint to the i joint is , the homogeneous transformation matrix/> from the i joint to the n joint at the end is:
wherein, the ith column J i of jacobian matrix J (q) is as follows:
Step 3.5: and according to the angular velocity of each joint of the robot in the joint space, obtaining the target position of each joint in each control period, and controlling the motion of the robot body to finish the polishing task operation through each joint driver issued by the CANOpen bus.
The invention develops a cooperative robot polishing process instruction packet based on a cooperative robot polishing process control method. The provided polishing process instruction packet can lead an operator to finish polishing tasks only through simple operation while supporting the polishing function, does not need professional training and additional software and hardware equipment, and saves time and cost.
The initial value of the six-dimensional force/moment sensor in step 1 and the gravity parameter of the polishing tool can be automatically distinguished by using the instruction FTMLU.
Since the collaborative robot itself has a drag teaching function, a robot end button can be used to automatically insert drag teaching instructions FTMLU during drag, record a drag trajectory, and automatically smooth the recorded trajectory using a spline interpolation function when performing a grinding and polishing motion.
In addition, three to four vertexes under the XOY plane of the user coordinate system can be calibrated, a triangle or quadrilateral region can be calibrated, and a FTQUA/FTTRI/FTQUM instruction is used in a matched manner, so that a quadrilateral bow-shaped traversing track, a triangle bow-shaped traversing track and a quadrilateral same-direction bar track shown in figures 2-4 can be automatically generated.
As shown in fig. 2, FTQUA instructs to perform arcuate traversal polishing on the quadrangular region, i.e., to automatically split the massive quadrangular region into arcuate strip-shaped trajectories. As shown in fig. 3, FTTRI instructs to perform a bowing-like traversal polish on the triangle polish area. As shown in fig. 4, FTQUM is similar to FTQUA except that each of the split polishing strips is polished in the same direction.
By using the two track generation modes aiming at the practical application scene, the track teaching process is simplified, and the cost caused by using additional software and hardware is avoided.
The invention theoretically uses a force-position mixed control method, realizes the function of finishing grinding and polishing operation by the cooperative robot, replaces manual work by the robot, improves grinding and polishing effect and improves labor environment. The special process instruction packet developed in the application is more targeted to the actual scene, the requirements are effectively attached through simple operation, the production time is saved, and the production cost is reduced.
The foregoing description of the preferred embodiments of the invention is not intended to limit the scope of the invention, but rather to enable any modification, equivalent replacement, improvement or the like to be made without departing from the spirit and principles of the invention.
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