Robot Tool Trajectory Planning In Surface Processing Manufacturing

Nowadays, industrial robots are widely used in robot milling, grinding, automatic spraying, rapid prototyping, polishing, cleaning, welding, cutting, carving and so on in the automatic surface manufacturing industry. The robot tool trajectory planning is one of the key processing steps. The traditional manual teaching methods are time-consuming, error prone and overly dependent on workers in the surface manufacturing process. Meanwhile compared with the machine tools, using robot in surface manufacturing has the advantages of more flexible motion with many degrees of freedom and wider working range. So it can guarantee the accuracy of the position and orientation of the end-effector to improve the processing quality of the workpiece. At the same time through off-line programming to process workpiece of complex surface to realize automatic producing and improve producing efficiency. Thus the research of robot surface manufacturing trajectory planning methods of tools has become an important issue in the robot surface manufacturing process.The robot tool trajectory planning in surface processing manufacturig was researched. The existing methods of robot posture control and path planning were contrasted and analyzed. The research subject of this article was the milling processing. To satisfy the processing and using requirement, the Euler angle interpolation way was adopted to realize robot motion with variable posture. Then the spatial straight line and circular trajectory interpolation could be realized by methods mentioned above. As to the singularity leading to no solution of inverse kinematics within the working range in the robot motion control, random probability method was proposed to analyze the working range to determine the complete working position of workpiece.Secondly, the framework of robot tool trajectory planning system was designed. The CAD model of workpiece was established in three-dimensional software Pro/E using a set of equidistant plane group and intersecting directly with the model, then the path tag point was obtained through intersection, and the orientation of the path tag point was calculated in Matlab, each joint angle values was acquired through robot inverse kinematics solution. At last, the path planning was realizied. Compared with the robot processing path method based on the stl, the proposed method can guarantee the precision of the tool path in the normal direction and the position. The proposed method based on CAD was adopted to realize robot tool trajectory planning.Lastly, the hardware platform of robot milling processing was introduced. The type of tool, robot milling path interval, the processing step, and feed speed were selected. The tool milling path was optimized. Then the process of robot was simulated in Matlab and OpenGL environment, and the experiment platform of robot was built. The effectiveness of the proposed method was verified by the robot milling experiments on the platform.