Research On Path Planning And Control Technology Of Dual-Robot Coordinated Grinding

With the advancement of industrial civilization and the rapid development of computer technology,control technology,intelligent manufacturing and other science and technology,robot processing plays an increasingly important role in various processing and manufacturing fields.The robot's flexible processing,intelligent processing and digital processing have become the trend of machining in the future.However,when machining a part of large or complex free-form surface workpiece,it is difficult for a single robot to complete the machining task because of its large machining range and possible machining dead angle area.Therefore,it is an urgent requirement for the robot to expand the machining area and the flexibility of the machining process,and to solve the problem of machining dead angle due to the large machining range and the complexity of the workpiece.Therefore,it has a more practical application prospect to propose a dual robot coordinated machining method.In this paper,the free-form surface and its mathematical description method are summarized,and the kinematic model of 3D free-form surface is established by using NURBS.To solve the problem of complex and difficult machining of free-form surface,a method of slice planning based on the combination of curvature of free-form surface and machining technology of robot is proposed.The free-form surface is divided into several rectangular sub surface pieces with similar curvature and uniform polishing technology,so as to determine the path of free-form surface polishing by two robots,and the path simulation research is carried out.By using the robot tool toolbox in MATLAB software,the kinematics model of the three-dimensional dual robot is established.Aiming at the problem of coordinated motion between two robots,the space projection method is used to calculate the coordinate rotation matrix between two robots,and the relative pose relationship between two robots is obtained.On the basis of establishing the theoretical model of dual robot kinematics,the kinematic analysis of dual robot is carried out to verify the correctness of the coordinated control model of dual robot.Based on the three-dimensional kinematic model of two robots,the three-dimensional kinematic model of two robots Polishing Free-form surface is established,and the simulation experiment is carried out according to the path planning of free-form surface.Based on the simulation experiment of two robots Polishing Free-form surface,the platform of two robots coordinated polishing was built,and the experimental research of two robots coordinated Polishing Free-form surface was carried out.Through the coordinated polishing of free-form surface by two robots,the complex and difficult machining of free-form surface and the problem of machining dead angle area are solved,and the correctness of slice planning method and coordinated polishing of free-form surface by two robots is verified.Through the analysis of the free-form surface roughness,the roughness of the sub surface is roughly the same,and the machining effect is the same,which verifies the correctness of the segmentation planning method.After polishing,the roughness of free-form surface is improved,which further verifies the correctness and feasibility of dual robot coordinated machining.