Robot touch servo control method for milling of easily-deformed structure

Abstract

The invention discloses a robot touch servo control method for milling of an easily-deformed structure. A milling cutter vibration signal is used as a control quantity for automatic control over the milling process. The method comprises two stages, the first stage is a signal acquisition and processing stage, vibration information is acquired in real time in the stage, and feature information in the milling process is obtained after processing; and the second stage is a robot motion control stage, the vibration signal is fed back to a controller in real time, a control algorithm is executed toperform motion control over a robot, and interference caused by deformation is compensated. According to the method, an acceleration sensor array is low in cost and easy to manufacture, array modes with different numbers can be designed according to requirements, the acceleration sensor array is rolled into a barrel shape to be tightly wrapped around the surface of a milling cutter, and an existing structure of the robot does not need to be modified. The milling depth is basically kept unchanged when the rigidity of the milling structure is low or the milling structure cannot be completely fixed, the control precision is high, the flexibility is high, and the practical prospect is wide.

Description

technical field [0001] The invention relates to a robot tactile servo control method for easy-deformable structure milling, belonging to the technical field of robot tactile perception, tactile servo and operation control. Background technique [0002] In the field of robotics, the milling operation of a workpiece with a high-speed rotating tool is a basic operation performed by a robot in many cases. [0003] At present, in the field of robotic milling control, the milling targets are mostly materials with high structural rigidity, and the path can be planned in advance for the milling process to achieve a good milling effect. However, when the rigidity of the structure to be milled is low or difficult to be completely fixed, the milling force will cause deformation or displacement of the milled structure during the milling process, which will destroy the milling result. [0004] To sum up, in order to achieve automatic milling for easily deformable structures and obtain a...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that when the milled structure with low rigidity or difficult to be completely fixed is processed, its structure is prone to deformation or displacement, which will destroy the milling result, and proposes a robot tactile servo system for milling of easily deformable structures. Control Method

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