Grinding trajectory generation of hybrid robot based on Cartesian direct teaching technology

Author:

Xiao Juliang,Wang Yunpeng,Liu Sijiang,Sun YuBo,Liu Haitao,Huang Tian,Xu Jian

Abstract

Purpose The purpose of this paper is to generate grinding trajectory of unknown model parts simply and efficiently. In this paper, a method of grinding trajectory generation of hybrid robot based on Cartesian space direct teaching technology is proposed. Design/methodology/approach This method first realizes the direct teaching of hybrid robot based on 3Dconnexion SpaceMouse (3DMouse) sensor, and the full path points of the robot are recorded in the teaching process. To reduce the jitter and make the speed control more freely when dragging the robot, the sensor data is processed by Kalman filter, and a variable admittance control model is established. And the joint constraint processing is given during teaching. After that, the path points are modified and fitted into double B-splines, and the speed planning is performed to generate the final grinding trajectory. Findings Experiment verifies the feasibility of using direct teaching technology in Cartesian space to generate grinding trajectory of unknown model parts. By fitting all the teaching points into cubic B-spline, the smoothness of the grinding trajectory is improved. Practical implications The whole method is verified by the self-developed TriMule-600 hybrid robot, and it can also be applied to other industrial robots. Originality/value The main contribution of this paper is to realize the direct teaching and trajectory generation of the hybrid robot in Cartesian space, which provides an effective new method for the robot to generate grinding trajectory of unknown model parts.

Publisher

Emerald

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering

Reference29 articles.

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Intuitive teaching approach for robotic disassembly;Procedia CIRP;2023

2. A jerk-limited heuristic feedrate scheduling method based on particle swarm optimization for a 5-DOF hybrid robot;Robotics and Computer-Integrated Manufacturing;2022-12

3. A robotic polishing trajectory planning method for TBCs of aero-engine turbine blade using measured point cloud;Industrial Robot: the international journal of robotics research and application;2022-11-02

4. Robotic direct grinding for unknown workpiece contour based on adaptive constant force control and human–robot collaboration;Industrial Robot: the international journal of robotics research and application;2022-10-03

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