Multi-constraint robot milling attitude planning method and system based on potential field method

Abstract

The invention discloses a multi-constraint robot milling attitude planning method and system based on a potential field method, belonging to the field of milling manufacturing. The invention transforms the geometrical physical constraints into a virtual potential field, so that the constrained quantity is kept away from the constraint boundary under the action of the repulsive moment generated by the virtual potential field, so that the generated attitude track meets the geometrical physical constraints. The invention comprehensively considers the redundant angle of the robot and the forward tilt and side tilt angle of the end effector, and further improves the processing quality. After considering this factor, the machining accuracy is obviously improved when the generated trajectory is used for milling. The present invention proposes a new potential field function, which calculates the virtual dynamic equation through numerical integration to solve the attitude trajectory, and the obtained solution is a numerical value in the continuous domain, so that the robot trajectory always ensures that the joint motion C3 is continuous during the movement process, thereby The smoothness of the generated attitude trajectory is guaranteed.

Description

technical field [0001] The invention belongs to the field of milling processing and manufacturing, and more specifically relates to a method and system for robot milling processing posture planning based on potential field method and multi-constraint. Background technique [0002] Industrial robots are widely used in various types of automated production due to their high flexibility, programmability, and competitive cost. Trajectory planning for different production task requirements has become a rigid requirement for robot operations. For robot milling, it has high requirements for machining trajectory accuracy and machining mechanics, which poses greater challenges compared to other tasks such as palletizing and handling; compared with traditional five-axis machining, robot milling has In addition to the inclination angle and the side inclination angle, there are also redundant angles that affect the mechanical properties of the machining, which is more difficult to plan....

AI Technical Summary

Problems solved by technology

Relevant studies only apply the potential field method to robot obstacle avoidance and machine tool attitude planning. For the application of robot multi-axis milling attitude trajectory planning, there are currently few corresponding planning algorithms.

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