CN106914904A - A kind of complex-curved blade force-location mix control system of processing based on ROS - Google Patents
A kind of complex-curved blade force-location mix control system of processing based on ROS Download PDFInfo
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- CN106914904A CN106914904A CN201710161579.3A CN201710161579A CN106914904A CN 106914904 A CN106914904 A CN 106914904A CN 201710161579 A CN201710161579 A CN 201710161579A CN 106914904 A CN106914904 A CN 106914904A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of force-location mix control system of processing of the complex-curved blade based on ROS, including：Industrial robot, robot control unit, processing unit, power/torque sensor, abrasive band polished machine；Processing unit is used for the feedback information of typing cutter track trajectory planning, power trajectory planning and real-time capacity/torque sensor, so as to obtain cutter track trajectory planning, the Inverse Kinematics Solution of power trajectory planning and be sent to robot control unit in real time；The Inverse Kinematics Solution that robot control unit is used to receive is converted to cutter track path instructions and power path instructions, and is sent to industrial robot；Industrial robot is used for clamping blade and the instruction tape movable vane piece of robot control unit moves to complete the grinding of blade around abrasive band polished machine.The system can effectively realize the force-location mix control of complex-curved blade robot abrasive band grinding and polishing, it is thus possible to accurately control the material removing rate of complex-curved blade and improve its surface integrity.
Description
Technical field
The invention belongs to robot automation's manufacture field, and in particular to a kind of complex-curved BLADE FORCE position based on ROS
Mixing control system of processing, it is adaptable to processing of the robot to blade of aviation engine, turbo blade type face and intake and exhaust side.
Background technology
Blade class complex curved surface parts as one of kernel components of device such as aero-engine and turbine, to whole machine work
There is very important effect as performance, its geometrical precision and surface quality directly determine the service behaviour and effect of whole machine
Rate.Complex-curved blade belongs to typical difficult processing in field of machining also because its is leaf thin and bending and degreeof tortuosity are big
Part, its manufacture material is also based on unmanageable high temperature alloy, titanium alloy etc., and it is low that traditional processing method has processing efficiency
And the problems such as low precision.
The processing mode of blade currently still rests on the stage based on artificial grinding and polishing, and the method not only wastes time and energy,
And machining accuracy is also difficult to ensure that.With the continuous increase of blade dimensions, the continuous rising of throughput requirements, blade automation machine
Tool grinding and polishing has become the bottleneck of limitation high-quality blade production.
In recent years, due to the rise developed rapidly with labor cost of robot technology, robot is in polishing processing
Gradually paid attention to.Compared with traditional processing mode, robot system not only has good flexibility, highly versatile, is easy to expand
The advantages of, and its cost is also well below special purpose machine tool and Digit Control Machine Tool.But realize complicated song for robot writes program
Position ring and power ring the precise control processing of face blade but become increasingly complex heavy.
The content of the invention
For the above-mentioned problems in the prior art, it is contemplated that the ROS (Robot based on messenger service mechanism
Operating System, robot operating system), build one kind and be easy to set up networking, Distributed Calculation, modularized design
And the blade force-location mix control system of processing with abundant robot software's system development tool.
In order to achieve the above object, the present invention provides a kind of complex-curved blade force-location mix control processing based on ROS
System, it includes：Industrial robot, robot control unit, processing unit, power/torque sensor, abrasive band polished machine；
The input of industrial robot connects the output end of robot control unit；Robot control unit's connection treatment is single
Unit and with processing unit bi-directional transfer of data；Power/torque sensor is arranged on the polished machine of abrasive band, connect processing unit and with place
Reason unit bi-directional transfer of data；
Abrasive band polished machine position is fixed, for being ground blade；
Processing unit is provided with Ubuntu operating systems and ROS robot operating systems, for typing cutter track trajectory planning,
The feedback information of power trajectory planning and real-time capacity/torque sensor, so as to obtain cutter track trajectory planning, power trajectory planning
Inverse Kinematics Solution and be sent to robot control unit in real time；
The Inverse Kinematics Solution that robot control unit is used to receive is converted to cutter track path instructions and power path instructions,
And it is sent to industrial robot；
Industrial robot is used for clamping blade and the instruction tape movable vane piece of robot control unit is moved around abrasive band polished machine
To complete the grinding of blade.
Further, processing unit includes primary processor, first point of processor, second point of processor；
First point of processor is used to perform the Path layout data Inverse Kinematics solution preocess of abrasive band polished machine, and will be to
The inverse solution control information of Path programming movement that primary processor issue is obtained, to realize robot location's ring real-time control；
Second point of processor is used to perform the inverse solution preocess of power trajectory planning data motion of abrasive band polished machine, to main process task
Device issues the power trajectory planning Inverse Kinematics Solution control information of abrasive band polished machine, realizes power ring real-time control；
Primary processor is used for according to the inverse solution control information of Path programming movement, the motion of power trajectory planning for receiving
Learn inverse solution control information and send movement instruction to industrial robot, and capacity/torque sensor feedback information, and will
To feedback information be uploaded to first point of processor and second point of processor.
Further, primary processor is additionally operable to the motion in each joint that industrial robot is sent to robot control unit
Value, and the current location in each joint of industrial robot, the simulating sports of display grinding and polishing process and drafting in real time are obtained in real time
With record power position data message.
Further, first point of processor is used to perform following closed-loop control：Ground with complex-curved blade robot abrasive band
Cutter track trajectory planning data are thrown as input, meanwhile, receive the joint position information of industrial robot feedback, using KDL storehouses pair
Each joint angle information of industrial robot carries out postpositive disposal, realizes the closed-loop control of position ring.
Further, second point of processor is used to perform following closed-loop control：Ground with complex-curved blade robot abrasive band
Power trajectory planning data are thrown as input, meanwhile, using the robot control software and for power/torque sensor data of increasing income
The ATI data acquisition C languages storehouse of collection, sends the power track of blade polishing to primary processor and power/torque sensor in real time
Information, and capacity/torque sensor feedback, realize the closed-loop control of power ring.
Further, industrial robot uses the Comau-NJ220-2.7 robots of six degree of freedom；Robot control unit
Using C5G；It is GXK-51P180 that abrasive band polished machine uses abrasive band；Power/torque sensor using ATI omega160 six-dimensional forces/
Torque sensor.
Further, wrist the load 220Kg, repeatable accuracy ± 0.075mm of Comau-NJ220-2.7 robots；ATI
Omega160 six-dimensional forces/torque sensor output voltage is ± 10V, is 0~1000N to stress.
In general, by the contemplated above technical scheme of the present invention compared with prior art, the present invention has as follows
Beneficial effect：
(1) present invention does not recycle windows as development platform, but selection Ubuntu operating systems, while using
Software developments and control platform of the robot operating system ROS as robot, make full use of Distributed Calculation, the module of ROS
Change design and code increasing income property and reusability, with improve the grinding and polishing of complex-curved blade robot abrasive band software development and
Reality processing efficiency.
(2) present invention constructs a kind of complex-curved blade force-location mix control system of processing based on ROS, and the system can
Effectively realize the force-location mix control of complex-curved blade robot abrasive band grinding and polishing, it is thus possible to accurately control complex-curved
The material removing rate of blade and improve its surface integrity.
Brief description of the drawings
Fig. 1 is polishing system structured flowchart of the invention；
Fig. 2 is Robot Force position blend closed loop control block diagram.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as additionally, technical characteristic involved in invention described below each implementation method
Not constituting conflict each other can just be mutually combined.
The present invention provides a kind of complex-curved blade force-location mix control system of processing based on ROS, and it includes：Industrial machine
Device people, robot control unit, processing unit, power/torque sensor, abrasive band polished machine.
As shown in figure 1, the first embodiment of the present invention, it mainly includes 1 Comau-NJ220-2.7 work of 6DOF
Industry robot, 1 robot control unit (C5G), 1 abrasive band polished machine, 1 ATI omega160 six-dimensional forces/moment sensing
The processor unit that device, 3 processors are constituted (the present embodiment is 3 personal computers).The input connection of industrial robot
The output end of robot control unit；Robot control unit connect processing unit and with processing unit bi-directional transfer of data；Power/
Torque sensor is arranged on the polished machine of abrasive band, connect processing unit and with processing unit bi-directional transfer of data；Abrasive band polished machine
Position is fixed, for being ground blade；Processing unit is provided with Ubuntu operating systems and ROS robot operating systems, for recording
Enter the feedback information of cutter track trajectory planning, power trajectory planning and real-time capacity/torque sensor, so as to obtain cutter track track
Planning, the Inverse Kinematics Solution of power trajectory planning are simultaneously sent to robot control unit in real time；Robot control unit is used to connect
The Inverse Kinematics Solution for receiving is converted to cutter track path instructions and power path instructions, and is sent to industrial robot；Industrial robot
Instruction tape movable vane piece for clamping blade and robot control unit moves to complete the grinding of blade around abrasive band polished machine.Its
Workflow is：Staff sends power/position data command to robot control unit between unit by operating processor
C5G, C5G coordinate abrasive band mill using the Comau-NJ220-2.7 robots of the interpolation algorithm control clamping blade of its own encapsulation
Throwing machine completes grinding and polishing task.
3 processors are mounted on the processor of Ubuntu operating systems and robot operating system ROS, wherein 1 is
Primary processor, 2 is a point processor in addition.First point of processor, second point of processor and primary processor are by writing node
(node), carry out message (msg) using the topic (topic) in ROS or service (service) to transmit, while dividing using ROS
Cloth is calculated and modularized design advantage, by primary processor starter node manager (master) and responsible emulation, motion control
And data record, the modularized processing of position ring and power ring is each responsible for by first point of processor and second point of processor.
Primary processor shows the simulating sports of robot abrasive band polishing system and makes in real time using the rviz instruments in ROS
Drawn with the rxplot in ROS and record power position data message；It is connected with robot control unit by writing hardware driving, and
Using ICP/IP protocol is to robot transmission movement instruction and receives robot motion feedback, its Main Function is display emulation
Effect, drafting and record power/position data.
First point of processor performs complex-curved blade robot abrasive band grinding and polishing Path layout data and transports by KDL storehouses
It is dynamic to learn inverse solution, and the positional information of inverse solution is sent to topic for primary processor subscription, while receiving position is fed back, realize machine
People's position ring is controlled.
Second point of processor passes through ATIDAQ C Library (ATI data acquisition C languages storehouse) and OROCOS (Open
Robot Control Software) power trajectory planning control information is disposed, force information is issued to primary processor, while
Force feedback is received, power ring real-time control is realized.
The robot control unit C5G and Comau-NJ220-2.7 robots that the present embodiment is used are joined directly together, in it
Portion is packaged with position interpolation, safety monitoring etc., can receive the position control instruction for carrying out host processor, and driven machine people transports
It is dynamic, while the movable information of robot can be fed back into primary processor again constitutes position ring closed-loop control.
In other embodiments, three functions of processor can be done directly by a processor, but using only one
Processor, operand can be greatly increased, and arithmetic speed can be reduced, and power consumption can be improved.
The abrasive band polished machine that the present embodiment is used, its contact wheel is rubber contact wheel, with certain elasticity, Ke Yiyou
Avoid to effect the rigid collision between robotic gripper's blade and contact wheel.The abrasive band that it is used is GXK-51P180, i.e., close
The full resin weight cloth corundum sand band of sand is planted, granularity 180# can effectively realize the fine grinding of complex-curved blade.
As shown in Fig. 2 with the power in two complex-curved blade robot abrasive band process of independent form control and
Position.In robot research field, power free space and position free space are two orthogonal subspaces of complementation, it is assumed that power
The diagonal matrix of the switching characteristic of free space is S, the unit matrix of total free space is I, then position free space is opened
The diagonal matrix for closing feature is I-S.By the diagonal matrix S and the inverse matrix J of Jacobian matrix of switching characteristic-1, then multiply respectively
Proportional coefficient K is controlled with corresponding powerfWith position control Proportional coefficient Kp, carry out power control in power free space, it is remaining just
Hand over and carry out position control on direction, finally realize the force-location mix control between Comau machine human and environments.
In the present embodiment, primary processor shows that Comau robot simulations are moved in real time using the rviz instruments in ROS.
Robot model is started by URDF (Unified Robot Description Format) document definition in launch files
Node manager (master) and multiple nodes (node).Node mainly includes the joint shape of issue (publish) robot
State (joint_state) and tracking coordinate transform (tf), realize the renewal of robotary (robot_state), so that complete
Into simulating sports.And primary processor can be drawn and the position in recorder people abrasive band grinding and polishing using the rxplot in ROS
With the data message of power.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, it is not used to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc., all should include
Within protection scope of the present invention.
Claims (7)
1. a kind of force-location mix control system of processing of the complex-curved blade based on ROS, it is characterised in that including：Industrial machine
Device people, robot control unit, processing unit, power/torque sensor, abrasive band polished machine；
The input of industrial robot connects the output end of robot control unit；Robot control unit's connection processing unit is simultaneously
With processing unit bi-directional transfer of data；Power/torque sensor is arranged on the polished machine of abrasive band, and connection processing unit is simultaneously single with treatment
First bi-directional transfer of data；
Abrasive band polished machine position is fixed, for being ground blade；
Processing unit is provided with Ubuntu operating systems and ROS robot operating systems, for typing cutter track trajectory planning, power rail
Mark planning and the in real time feedback information of capacity/torque sensor, so as to obtain the fortune of cutter track trajectory planning, power trajectory planning
It is dynamic to learn inverse solution and be sent to robot control unit in real time；
The Inverse Kinematics Solution that robot control unit is used to receive is converted to cutter track path instructions and power path instructions, concurrently
Give industrial robot；
Industrial robot is used for clamping blade and the instruction tape movable vane piece of robot control unit is moved with complete around abrasive band polished machine
Into the grinding of blade.
2. the force-location mix control system of processing of a kind of complex-curved blade based on ROS according to claim 1, it is special
Levy and be, processing unit includes primary processor, first point of processor, second point of processor；
First point of processor is used to perform the Path layout data Inverse Kinematics solution preocess of abrasive band polished machine, and will be to main place
The inverse solution control information of Path programming movement that reason device issue is obtained, to realize robot location's ring real-time control；
Second point of processor is used to perform the inverse solution preocess of power trajectory planning data motion of abrasive band polished machine, is sent out to primary processor
The power trajectory planning Inverse Kinematics Solution control information of cloth abrasive band polished machine, realizes power ring real-time control；
Primary processor is used for according to the inverse solution control information of Path programming movement, the power trajectory planning Inverse Kinematics for receiving
Solution control information sends movement instruction to industrial robot, and capacity/torque sensor feedback information, and will obtain
Feedback information is uploaded to first point of processor and second point of processor.
3. the force-location mix control system of processing of a kind of complex-curved blade based on ROS according to claim 2, it is special
Levy and be, primary processor is additionally operable to the motion value in each joint that industrial robot is sent to robot control unit, and obtains in real time
Take current location, the in real time simulating sports of display grinding and polishing process and drafting and the record power digit in each joint of industrial robot
It is believed that breath.
4. the force-location mix control system of processing of a kind of complex-curved blade based on ROS according to claim 3, it is special
Levy and be, first point of processor is used to perform following closed-loop control：With complex-curved blade robot abrasive band grinding and polishing cutter track track
Layout data as input, meanwhile, receive industrial robot feedback joint position information, using KDL storehouses to industrial robot
Each joint angle information carry out postpositive disposal, realize the closed-loop control of position ring.
5. the force-location mix control system of processing of a kind of complex-curved blade based on ROS according to claim 3, it is special
Levy and be, second point of processor is used to perform following closed-loop control：Advised with complex-curved blade robot abrasive band grinding and polishing power track
Data are drawn as input, meanwhile, using robot control software and the ATI for power/torque sensor data acquisition of increasing income
Data acquisition C language storehouse, sends the power trace information of blade polishing, and connect to primary processor and power/torque sensor in real time
The feedback of stress/torque sensor, realizes the closed-loop control of power ring.
6. a kind of force-location mix control of the complex-curved blade based on ROS according to claim 1-5 any one adds
Work system, it is characterised in that industrial robot uses the Comau-NJ220-2.7 robots of six degree of freedom；Robot control is single
Unit uses C5G；It is GXK-51P180 that abrasive band polished machine uses abrasive band；Power/torque sensor is sextuple using ATI omega160
Power/torque sensor.
7. the force-location mix control system of processing of a kind of complex-curved blade based on ROS according to claim 6, it is special
Levy and be, wrist the load 220Kg, repeatable accuracy ± 0.075mm of Comau-NJ220-2.7 robots；ATI omega160 six
Dimension power/torque sensor output voltage is ± 10V, is 0~1000N to stress.
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| CN108500978A (en) * | 2018-03-08 | 2018-09-07 | 歌尔股份有限公司 | A kind of robot controller, method and robot |
| CN108875843A (en) * | 2018-07-16 | 2018-11-23 | 昆明理工大学 | A kind of Francis Turbine Blades knife rail generating method |
| CN109986543A (en) * | 2017-12-29 | 2019-07-09 | 深圳光启超材料技术有限公司 | Apply location regulation method and device, robot in robot |
| CN112139654A (en) * | 2020-09-24 | 2020-12-29 | 北京工业大学 | Robot friction stir welding online force position hybrid control system |
| CN112809687A (en) * | 2021-02-08 | 2021-05-18 | 上海电气集团股份有限公司 | Simulation method, device and equipment of robot controller |
| CN108942940B (en) * | 2018-08-01 | 2022-02-22 | 东南大学 | Teleoperation robot polishing control system based on multi-sensor fusion |
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Effective date of registration: 20200619 Address after: No.329, Yanxin Road, Huishan Economic Development Zone, Huishan District, Wuxi City, Jiangsu Province Patentee after: HUST-WUXI Research Institute Address before: 430074 Hubei Province, Wuhan city Hongshan District Luoyu Road No. 1037 Patentee before: HUAZHONG University OF SCIENCE AND TECHNOLOGY |