| The application of industrial robots in various fields can effectively solve the problems of aging population and high labor cost,improve the working environment,increase the level of automation and production efficiency of enterprises.With the extension and expansion of the application scope of robotics technology,and the diversity and complexity of work objects increase,the limitations of single industrial robot operation become more and more obvious.External axis equipment is needed to be added as auxiliary mechanism of six-axis industrial robots in many cases to increase the flexibility of operation and expand the application field of industrial robots.How to complete the addition of the external axis of the six-axis industrial robot and realize the coordinated motion algorithm is one of the hotspots of industrial robot application research.Based on six-degree-of-freedom industrial robot and single-degree-of-freedom heavy-duty turntable,this paper constructs a collaborative processing system.The trajectory points are generated by offline programming,and implement interpolation in the software space,and the Kalman Filter is used to track the motion of industrial robots by turntable.The experiments verify the effectiveness of the trajectory tracking algorithm.The main research contents include:(1)In order to build a collaborative processing system of industrial robot+turntable,the servo transformation of manual turntable is carried out,and the communication between robot and turntable is established.Aiming at the problems of servo turntable tracking,corresponding solutions are given.(2)In order to guarantee the cooperative tracking between robot and turntable,in the software space,the cubic spline interpolation method is used instead of the servo space to interpolate the trajectory generated by the CAD/CAM software,and the trajectory is decomposed to obtain the collaborative processing trajectory of the industrial robot and the turntable.Aiming at the coordinated machining track,a coordinated tracking algorithm is developed to track the motion of the robot by the servo turntable.(3)Aiming at the problem of inconsistency between the time axis of the robot controller and the turntable controller,the Kalman Filter is used as a predictor to predict the actual running time of the industrial robot,and the Kalman prediction algorithm is written.By establishing the robot motion model can realize the one-step prediction of the actual running time T of the robot and reduce the tracking error caused by the inconsistent time.(4)On the basis of trajectory interpolation in software space and the prediction time of Kalman Filter,the effectiveness of the coordinated tracking of robot movement by servo turntable is verified by collaborative processing of complex products. |
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