Research And Application Of Industrial Robot's Teaching Technology In Varying Curvature Working Conditions

The applications of industrial robot under varied curvature working conditions become more and more.Such as the polishing and spraying of automotive sheet metal parts,high-speed rail head,aircraft fuselage and turbine blades and other products.And the cutting of their models.There are two problems when the existing industrial robot's teaching technology is applied to the varied curvature working conditions,1)the route planning of terminal actuator is not smooth enough to meet the quality requirements of varied curvature area,2)the optimization of inverse combination of six joint angles in trajectory planning is not global optimal,the angular velocity is not smooth,leading to the unreasonable energy saving.In this paper,we propose a teaching technology of industrial robots under variable curvature conditions,1)Using the Kmin extracted from the free surface of large curvature as the search direction,we get efficient and high quality interpolation points.And then the geometric smooth path planning is obtained,which avoids the path with the greatest change of posture and improves the machining precision.2)The problem of inverse solution combinatorial selection with the smallest global operating energy is transformed into a series of discrete points directed graphs.The industrial robot energy consumption model is used to obtain the length of the directed graph,and the constraint of the angular velocity is transformed into the parameters in the energy consumption model,and the inverse of the minimum energy consumption is obtained.The main contents of this paper are as follows:1)A variable curvature free surface definition considering the quality of industrial robots is proposed,and the feature extraction of the curvature free surface model is realized.For the triangular mesh model,the topological relation of the mesh is extracted by using the hash function.The maximum principal curvature of the vertex is estimated and extracted using the mesh shape and area.The empirical maximum method is used to find the maximum principal curvature threshold.Of the variable curvature region.2)Aiming at the problem that the end of the actuator is not smooth enough,a geometric smoothing algorithm of industrial robot path planning is proposed,which can make the robot work along the path with the smallest change of attitude and reduce the machining error.The maximum vertex with the largest principal curvature in the variable curvature region is chosen as the initial interpolation point of the algorithm in the region;the step size is estimated by the curvature matching method and the interpolation point is searched along the minimum principal curvature direction to obtain an ordered interpolation point path.The height method is used to estimate the line spacing,and the starting point of the next trajectory is searched along the direction of the maximum principal curvature.The sequence of the subsequent interpolation points is obtained,and the path planning of the whole region is obtained.3)Aiming at the problem that the precision is not high and the local optimal solution is obtained in the process of selecting the inverse solution of the closed solution,an inverse optimization method considering the motion smoothing is proposed.The inverse solution selection problem is transformed into the shortest path Problem,get the operation of the overall low energy consumption of the inverse combination.The energy dissipation model is established by using the constraint condition.The energy consumption model is established by using the cubic interpolation spline curve to fit the angle change of the six joints,and the energy consumption between the interpolation points is solved as the side length.The Dijkstra algorithm is used to solve the shortest path Problem,resulting in a smooth combination of motion smoothing.4)Developed a set of 6-DOF industrial robot virtual simulation system,realized the online teaching,programming teaching,teaching reproduction and variable curvature of the operating object under the feature extraction,path planning and inverse combination of filtering functions,In the industrial robot operating path planning for automobile bumper,teaching efficiency,geometric smoothness and motion smoothness are improved.