CN115302505B - Path correction method, system, storage medium and machine tool equipment - Google Patents
Path correction method, system, storage medium and machine tool equipment Download PDFInfo
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- CN115302505B CN115302505B CN202210936702.5A CN202210936702A CN115302505B CN 115302505 B CN115302505 B CN 115302505B CN 202210936702 A CN202210936702 A CN 202210936702A CN 115302505 B CN115302505 B CN 115302505B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses a path correction method, a system, a storage medium and machine tool equipment, wherein the path correction method comprises the steps of obtaining a first position, wherein the first position is the relative position between the tail end of a mechanical arm of a robot and the origin of the machine tool; acquiring a second position, wherein the second position is a relative position between a workpiece in the machine tool and an origin of the machine tool; calculating a third position according to the first position and the second position, wherein the third position is the relative position between the tail end of the mechanical arm and the workpiece; and adding variable compensation to the reference point according to the third position to realize path correction. The relative relation between the tail end of the mechanical arm and the original point of the machine tool and the relative relation between the workpiece in the machine tool and the original point of the machine tool, namely the first position and the second position are obtained, the relative position between the tail end of the mechanical arm and the workpiece in the machine tool, namely the third position is obtained through calculation by combining the first position and the second position, and the third position is adopted for carrying out path correction, so that the pose of the mechanical arm is corrected, and the closed-loop high-precision feeding and discharging operation is realized.
Description
Technical Field
The present invention relates to the field of robotics, and in particular, to a path correction method, a system, a storage medium, and a machine tool device.
Background
Aiming at the problems that in the operation of the loading and unloading robot of the prior numerical control machine tool, when new parts or working procedures are switched, because of the change of a clamp and a jaw, a large number of road points need to be modified manually, and the modification leads to low production efficiency and low precision stability.
The robot path for feeding and discharging the numerical control machine tool is generally divided into a plurality of sections of preset paths, but when the size and the processing procedure of the finally fed and discharged workpiece are changed, the clamp in the machine tool is required to be changed so as to achieve the requirements of reasonable clamping and proper processing. Often, the final path is changed most frequently and has the highest precision requirement, an operator adjusts the path point by visual observation, the path correction mode is low in efficiency, the internal space of some machine tools is narrow, a good enough view is difficult to operate, and even certain safety problems exist.
The camera is mounted on the mechanical arm to take a picture, and coordinate values of a workpiece are acquired through images, but because the cutting cooling liquid is used for cooling the heat of a cutter and the heat of the workpiece in the processing process in the machine tool, and the environment in the machine tool is relatively closed, the use effect of the camera can be influenced by mist of the cutting cooling liquid in the machine tool, and the effect is poorer and poorer along with the accumulation of the use time, and the robustness is not strong. Meanwhile, when the camera shoots and samples, the light environment in the machine tool is different, the standardization is difficult, and the false alarm rate is high.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a path correction method, a system, a storage medium and machine tool equipment, which can acquire high-precision road points so as to correct paths.
According to an embodiment of the first aspect of the present invention, a path correction method is applied to a loading and unloading robot of a numerical control machine tool, and the path correction method includes:
acquiring a first position, wherein the first position is a relative position between the tail end of a mechanical arm of the robot and the origin of a machine tool;
acquiring a second position, wherein the second position is a relative position between a workpiece in the machine tool and an origin of the machine tool;
calculating a third position according to the first position and the second position, wherein the third position is the relative position between the tail end of the mechanical arm and the workpiece;
and adding variable compensation to the reference point according to the third position to realize path correction.
The path correction method according to the embodiment of the first aspect of the present invention has at least the following advantages: the relative relation between the tail end of the mechanical arm and the original point of the machine tool and the relative relation between the workpiece in the machine tool and the original point of the machine tool, namely the first position and the second position are obtained, the relative position between the tail end of the mechanical arm and the workpiece in the machine tool, namely the third position is obtained through calculation by combining the first position and the second position, and the third position is adopted for carrying out path correction, so that the pose of the mechanical arm is corrected, and the closed-loop high-precision feeding and discharging operation is realized.
According to an embodiment of the first aspect of the present invention, a method for acquiring the first position includes:
the robot moves or is installed at a position nearby the machine tool, and the relative position between the tail end of the mechanical arm and the origin of the machine tool is obtained;
in the moving process of the mechanical arm of the robot, based on the fact that the relative position between the base of the robot and the origin of the machine tool is kept unchanged, the tail end of the mechanical arm is set to be TCP, the origin of the machine tool is MBase, the base of the robot is RBase, and therefore the following steps are achieved:
this is the variable compensation of the third position to the reference point increase.
According to an embodiment of the first aspect of the present invention, the path correction method further includes:
establishing a rigid body transformation matrix of a base coordinate system of the robot and a machine tool coordinate system of the machine tool;
correcting the rigid transformation moment according to the first position and the second position;
and correcting the required path point in the path by combining the correction matrix and the preset path point.
According to an embodiment of the first aspect of the present invention, the path correction method further includes:
calibrating a base coordinate system of the base and a tool coordinate system of the tail end of the mechanical arm so as to obtain the first position;
acquiring a workpiece coordinate system in the machine tool, and establishing conversion between the workpiece coordinate system and the machine tool coordinate system so as to obtain the second position;
and correcting the matrix rigid body transformation matrix by combining the calibrated coordinate system and the transformed coordinate system.
According to the path correction method of the embodiment of the first aspect of the invention, the base coordinate system of the robot is marked as O r X r Y r Z r The machine coordinate system is marked as O m X m Y m Z m Establishing a slave baseCoordinate system O r X r Y r Z r To the machine tool coordinate system O m X m Y m Z m Rigid body transformation matrix of (a)
The method comprises the following steps:
for robot-based coordinate systems
A representation;
for machine tool coordinate systems
A representation;
by using
Expressed in the reference base coordinate system->
Lower machine tool coordinate system->
Is the origin of coordinates of (a);
assume that the mp coordinate system of a workpiece in a machine tool is relative to the machine tool coordinate system
Lower position->
A representation;
the origin of the mp coordinate system of the workpiece in the machine tool relative to the coordinate system of the machine tool
Lower position->
The representation is made of a combination of a first and a second color,
then the object mp coordinate system is relative to the base coordinate system
Lower position->
Expressed as:
for the combination of rotation mapping and translation mapping, a machine tool coordinate system is firstly adopted
Rotating according to the rotation matrix, and translating along the displacement vector;
performing homogeneous transformation to obtain a transformation matrix
Wherein the matrix is transformed secondarily
For a matrix of 4x4, the coordinate system of the machine tool is represented +>
To the base coordinate system->
Is a transformation relation of:
it follows that:
according to a second aspect of the present invention, a path correction system applied to a loading and unloading robot of a numerical control machine tool includes:
the first acquisition module is used for acquiring a first position, wherein the first position is a relative position between the tail end of a mechanical arm of the robot and a base of the robot;
the second acquisition module is used for acquiring a second position, wherein the second position is the relative position between a workpiece in the machine tool and the origin of the machine tool;
the analysis module is used for calculating a third position according to the first position and the second position, wherein the third position is the relative position between the tail end of the mechanical arm and the workpiece;
and the correction module is used for adding variable compensation to the reference point according to the third position to realize path correction.
According to an embodiment of the second aspect of the present invention, the path correction system further includes:
the generation module is used for establishing a rigid body transformation matrix of a base coordinate system of the robot and a machine tool coordinate system of the machine tool;
a calculation module for correcting the rigid body transformation moment according to the first position and the second position;
the correction module is also used for correcting the required path point in the path by combining the calculation module and the preset path point.
According to an embodiment of the second aspect of the present invention, the path correction system further includes:
the calibration module is used for calibrating a base coordinate system of the base and a tool coordinate system of the tail end of the mechanical arm so as to obtain the first position;
the establishing module is used for acquiring a workpiece coordinate system in the machine tool, and establishing conversion between the workpiece coordinate system and the machine tool coordinate system so as to obtain the second position;
the correction module is also used for correcting the matrix rigid body transformation matrix by combining the calibrated coordinate system and the transformed coordinate system.
According to an embodiment of the third aspect of the present invention, the storage medium has stored therein at least one instruction that is loaded and executed by a processor to implement the operations performed by the path correction method according to the embodiment of the first aspect of the present invention.
A machine tool apparatus according to an embodiment of the fourth aspect of the present invention comprises a processor and a memory having stored therein at least one instruction that is loaded and executed by the processor to implement the operations performed by the path modification method according to the embodiment of the first aspect of the present invention.
It will be appreciated that the path correction system according to the second aspect of the present invention, the storage medium according to the third aspect of the present invention, and the machine tool apparatus according to the fourth aspect of the present invention all have the technical effects of the path correction method according to the first aspect of the present invention, and thus will not be described in detail.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a flowchart of an alternative path modification method according to an embodiment of the present invention;
FIG. 2 is a flow chart of an alternative path modification method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a path correction system according to an embodiment of the invention.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it should be understood that references to orientation descriptions, such as directions of up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the description of the present application, the meaning of several is one or more, the meaning of a plurality is at least two, greater than, less than, exceeding, etc. is understood to not include the present number, and above, below, within, etc. is understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art after combining the specific contents of the technical solutions.
Referring to fig. 1 to 2, a path correction method according to an embodiment of a first aspect of the present application is applied to a loading and unloading robot of a numerically-controlled machine tool, and the path correction method includes the following steps:
102, acquiring a second position, wherein the second position is the relative position between a workpiece in a machine tool and the origin of the machine tool;
and 104, adding variable compensation to the reference point according to the third position to realize path correction.
The relative relation between the tail end of the mechanical arm and the original point of the machine tool and the relative relation between the workpiece in the machine tool and the original point of the machine tool, namely the first position and the second position are obtained, the relative position between the tail end of the mechanical arm and the workpiece in the machine tool, namely the third position is obtained through calculation by combining the first position and the second position, and the third position is adopted for carrying out path correction, so that the pose of the mechanical arm is corrected, and the closed-loop high-precision feeding and discharging operation is realized.
It is understood that the lathe in this application optionally sets up numerical control lathe, is provided with the work piece of waiting to process on the numerical control lathe, and the robot in this application optionally sets up as last unloading robot, goes up unloading robot and has base and arm, disposes the instrument of processing at the arm end.
It should be noted that, referring specifically to fig. 1, after the loading and unloading robot of the numerically-controlled machine tool is configured in the production workshop, the position of the machine tool and the position of the base of the loading and unloading robot are generally fixed, so that a relative positional relationship is established between the end of the movable mechanical arm and the base of the loading and unloading robot, and a relative positional relationship is established between a random workpiece and the numerically-controlled machine tool so as to correct a path, thereby realizing loading and unloading with high precision and low manual intervention, and further solving the problems of inefficient loading and unloading path correction and multiple manual intervention of the numerically-controlled machine tool. The method can effectively improve the utilization rate of the machine tool and the robot.
In some embodiments of the present application, and with particular reference to fig. 1, a method of acquiring a first location includes:
the robot moves or is installed to a position near the machine tool, and the relative position between the tail end of the mechanical arm and the origin of the machine tool is obtained;
in the moving process of the mechanical arm of the robot, based on the fact that the relative position between the base of the robot and the origin of the machine tool is kept unchanged, the tail end of the mechanical arm is set to be TCP, the origin of the machine tool is MBase, the base of the robot is RBase, and therefore the following steps are achieved:
this is the variable compensation of the third position to the reference point increase.
It can be understood that the relation between the mechanical arm and the machine tool is realized by an optimization algorithm and closed-loop communication, and meanwhile, the relation between the base of the self-defined robot, the workpiece to be clamped and the clamp in the machine tool is calculated once to meet the requirement of high precision.
In some embodiments of the present application, the first position and the second position may be defined by a coordinate system, and a coordinate system is fed back to the robot by using an absolute coordinate, a relative coordinate and a mechanical coordinate on the numerical control machine as a method for correcting the path, so that the calibration accuracy is high, the operation is simple and convenient, and the effect of manually correcting the path is not required.
The origin of the machine tool is a fixed point which is already set when the machine tool is designed, manufactured, assembled and debugged. The origin of the machine tool is a datum reference point for controlling the movement of the machine tool by the numerical control device, and is also a unified datum for measuring, controlling and displaying the position of the numerical control machine tool. The origin of the machine tool is a defined point which cannot be directly measured, and the user has no modification authority. In a numerical control milling machine, the origin of the machine tool is generally taken at the positive direction limit position of a X, Y, Z coordinate axis, but the origin of the machine tools of all manufacturers is inconsistent, and the machine tool operation manual of all systems should be referred to during operation.
The machine tool coordinate system is a coordinate system established with the origin of the machine tool. The machine coordinate system is the one that serves the numerical control of the machine.
The origin of the workpiece coordinate system in the machine tool is the machined workpiece origin, also known as the workpiece zero point. Unlike the machine tool coordinate system, the workpiece coordinate system is set manually. Usually also the coordinate system set by the programmer at the time of programming, also called the programming coordinate system.
The base coordinate system is a rectangular coordinate system which is used for describing the motion of the robot body by taking the robot installation base as a reference. Any robot is not separated from the basic coordinate system, and is also a basic coordinate system (front and back: X axis, left and right: Y axis, up and down: Z axis) necessary for the robot TCP to move in the three-dimensional space.
Tool coordinate system: the tool center point is taken as a zero point, and the track of the robot refers to the tool center point.
Workpiece coordinate system: the workpiece coordinate system is a rectangular coordinate system based on the workpiece and can be used for describing the coordinate system of TCP motion, wherein the workpiece coordinate system in the machine tool is a coordinate system used in programming, also called a programming coordinate system, and the coordinate system is artificially set. Establishing a workpiece coordinate system is an indispensable step before numerical control machining. Different systems and methods vary.
The main establishment method comprises the following steps: the system acquires a workpiece coordinate system in the machine tool through communication with the machine tool or manually inputs the workpiece coordinate system into the system to participate in coordinate system conversion through a trial cutting tool setting method/workpiece setting method, a split rod tool setting method/workpiece setting method and a contact sensing tool setting method/workpiece setting method.
Wherein all coordinates mentioned above obey the right hand criterion.
In some embodiments of the present application, the path correction method further includes:
establishing a rigid body transformation matrix of a base coordinate system of the robot and a machine tool coordinate system of the machine tool;
correcting the rigid body transformation moment according to the first position and the second position;
and the required path points in the path are corrected by combining the correction matrix and the preset path points, so that the feeding and discharging high precision of the numerical control machine tool is realized, and the intervention requirement of personnel is low.
In some embodiments of the present application, the path correction method further includes:
calibrating a base coordinate system of a robot base and a tool coordinate system of the tail end of the mechanical arm so as to obtain a first position;
acquiring a workpiece coordinate system in a machine tool, and establishing conversion between the workpiece coordinate system and the machine tool coordinate system so as to obtain a second position;
and correcting the matrix rigid body transformation matrix by combining the calibrated coordinate system and the transformed coordinate system.
And calibrating and communicating the coordinate system of the mechanical arm and the coordinate system of the machine tool, acquiring the coordinate of a workpiece in the machine tool, and converting the coordinate into the coordinate of the mechanical arm to acquire a high-precision road point so as to correct the path.
It will be readily appreciated that the machine coordinate system is generally parallel to the corresponding coordinate axes of the workpiece coordinate system in the machine, and the directions are the same, but the origin O is different. Workpiece origin O in machine tool mp With the origin O of the machine tool m The distance between the two is called the workpiece origin offset, and the offset value is required to be input into a numerical control system in advance or automatically input into the numerical control system after being measured by a contact probe system in a machine tool during processing.
Referring specifically to fig. 2, in some embodiments of the present application, a path correction method includes:
It should be noted that, the pose variable is a vector description of the position and direction of the waypoint in the cartesian coordinate system, including: position vector (x, y, z), selection vector (rx, ry, rz).
In some embodiments of the present application, the base coordinate system of the robot is labeled O r X r Y r Z r The machine coordinate system is marked as O m X m Y m Z m Establishing a slave base coordinate system O r X r Y r Z r To the machine tool coordinate system O m X m Y m Z m Rigid body transformation matrix of (a)
The method comprises the following steps:
for robot-based coordinate systems
A representation;
for machine tool coordinate systems
A representation;
by using
Expressed in the reference base coordinate system->
Lower machine tool coordinate system->
Is the origin of coordinates of (a);
assume that the mp coordinate system of a workpiece in a machine tool is relative to the machine tool coordinate system
Lower position->
A representation;
workpiece mp coordinate system origin in machine tool relative to machine tool coordinate system
Lower position->
The representation is made of a combination of a first and a second color,
then the object mp coordinate system is relative to the base coordinate system
Lower position->
Expressed as:
for the combination of rotation mapping and translation mapping, a machine tool coordinate system is firstly adopted
Rotating according to the rotation matrix, and translating along the displacement vector;
performing homogeneous transformation to obtain a transformation matrix
Wherein the matrix is transformed secondarily
For a matrix of 4x4, the coordinate system of the machine tool is represented +>
To the base coordinate system->
Is a transformation relation of:
it follows that:
referring to fig. 3, a path correction system according to a second aspect of the present invention is applied to a loading and unloading robot of a numerical control machine, and includes:
the first obtaining module 301 is configured to obtain a first position, where the first position is a relative position between a tail end of a mechanical arm of the robot and a base of the robot;
the second obtaining module 302 is configured to obtain a second position, where the second position is a relative position between a workpiece in the machine tool and an origin of the machine tool;
the analysis module 303 is configured to calculate a third position according to the first position and the second position, where the third position is a relative position between the end of the mechanical arm and the workpiece;
and the correction module 304 is configured to add variable compensation to the reference point according to the third position, so as to implement path correction.
According to the path correction system of the embodiment of the second aspect of the present invention, the path correction system further includes:
the generation module is used for establishing a rigid body transformation matrix of a base coordinate system of the robot and a machine tool coordinate system of the machine tool;
a calculation module for correcting the rigid body transformation moment according to the first position and the second position;
the correction module 304 is further configured to correct a desired path point in the path by combining the calculation module and the preset path point.
According to the path correction system of the embodiment of the second aspect of the present invention, the path correction system further includes:
the calibration module is used for calibrating a base coordinate system of the robot base and a tool coordinate system of the tail end of the mechanical arm so as to obtain a first position;
the establishing module is used for acquiring a workpiece coordinate system in the machine tool, and establishing conversion between the workpiece coordinate system and the machine tool coordinate system so as to obtain a second position;
the correction module 304 is further configured to correct the matrix rigid transformation matrix by combining the calibrated coordinate system and the transformed coordinate system.
It can be understood that the relative position of the origin coordinate of the machine tool and the workpiece coordinate is used as the reference value of the variable pose of the robot, and the precision of the machine tool is always higher than that of the mechanical arm, so that the reference precision of the method is higher, the relative position in the machine tool is communicated or read through the machine tool and is input into the final waypoint of the robot for correction, the method belongs to closed-loop communication, the precision error of modes such as a lens is avoided, the correction waypoint is avoided by manual intervention, and the working efficiency is improved.
Referring to fig. 1 to 3, a storage medium of an embodiment of a third aspect of the present invention has at least one instruction stored therein, the instruction being loaded and executed by a processor to implement operations performed by the path correction method of the embodiment of the first aspect of the present invention.
Referring to fig. 1 to 3, a machine tool apparatus according to an embodiment of the fourth aspect of the present invention comprises a processor and a memory in which at least one instruction is stored, the instruction being loaded and executed by the processor to implement operations as performed by the path correction method according to the embodiment of the first aspect of the present invention.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The embodiments of the present application have been described in detail above with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.
Claims (4)
1. The path correction method is characterized by being applied to a loading and unloading robot of a numerical control machine tool, and comprises the following steps:
acquiring a first position, wherein the first position is a relative position between the tail end of a mechanical arm of the robot and the origin of a machine tool;
acquiring a second position, wherein the second position is a relative position between a workpiece in the machine tool and an origin of the machine tool;
calculating a third position according to the first position and the second position, wherein the third position is the relative position between the tail end of the mechanical arm and the workpiece;
adding variable compensation to the reference point according to the third position to realize path correction;
the method for acquiring the first position comprises the following steps:
the robot moves or is installed at a position nearby the machine tool, and the relative position between the tail end of the mechanical arm and the origin of the machine tool is obtained;
in the moving process of the mechanical arm of the robot, based on the fact that the relative position between the base of the robot and the origin of the machine tool is kept unchanged, the tail end of the mechanical arm is set to be TCP, the origin of the machine tool is MBase, the base of the robot is RBase, and therefore the following steps are achieved:
this is the variable compensation of the third position to the reference point increase;
the path correction method further comprises the following steps:
establishing a rigid body transformation matrix of a base coordinate system of the robot and a machine tool coordinate system in the machine tool;
correcting the rigid transformation moment according to the first position and the second position;
combining the correction matrix and a preset path point to correct a required path point in the path;
the path correction method further comprises the following steps:
calibrating a base coordinate system of the base and a tool coordinate system of the tail end of the mechanical arm so as to obtain the first position;
acquiring a workpiece coordinate system in the machine tool, and establishing conversion between the workpiece coordinate system and the machine tool coordinate system so as to obtain the second position;
combining the calibrated coordinate system and the transformed coordinate system to correct the matrix rigid body transformation matrix;
marking the base coordinate system of the robot as O r X r Y r Z r The machine coordinate system is marked as O m X m Y m Z m Establishing a slave base coordinate system O r X r Y r Z r To the machine tool coordinate system O m X m Y m Z m Rigid body transformation matrix of (a)
The method comprises the following steps:
for robot-based coordinate systems
A representation;
for machine tool coordinate systems
A representation;
by using
Expressed in the reference base coordinate system->
Lower machine tool coordinate system->
Is the origin of coordinates of (a);
assume that the mp coordinate system of a workpiece in a machine tool is relative to the machine tool coordinate system
Lower position->
A representation;
the origin of the mp coordinate system of the workpiece in the machine tool relative to the coordinate system of the machine tool
Lower position->
The representation is made of a combination of a first and a second color,
then the object mp coordinate system is relative to the base coordinate system
Lower position->
Expressed as:
for the combination of rotation mapping and translation mapping, a machine tool coordinate system is firstly adopted
Rotating according to the rotation matrix, and translating along the displacement vector;
performing homogeneous transformation to obtain a transformation matrix
/>
Wherein the matrix is homogeneous
Representing the coordinate system of the machine tool->
To the base coordinate system->
Is a transformation relation of:
it follows that:
2. a path correction system, characterized in that it is applied to a loading and unloading robot of a numerical control machine, and uses the path correction method according to claim 1, and comprises:
the first acquisition module is used for acquiring a first position, wherein the first position is a relative position between the tail end of a mechanical arm of the robot and a base of the robot;
the second acquisition module is used for acquiring a second position, wherein the second position is the relative position between a workpiece in the machine tool and the origin of the machine tool;
the analysis module is used for calculating a third position according to the first position and the second position, wherein the third position is the relative position between the tail end of the mechanical arm and the workpiece;
the correction module is used for adding variable compensation to the reference point according to the third position to realize path correction;
the path correction system further includes:
the generation module is used for establishing a rigid body transformation matrix of a base coordinate system of the robot and a machine tool coordinate system in the machine tool;
a calculation module for correcting the rigid body transformation moment according to the first position and the second position;
the correction module is also used for correcting the required path point in the path by combining the calculation module and the preset path point;
the path correction system further includes:
the calibration module is used for calibrating a base coordinate system of the base and a tool coordinate system of the tail end of the mechanical arm so as to obtain the first position;
the establishing module is used for acquiring a workpiece coordinate system in the machine tool, and establishing conversion between the workpiece coordinate system and the machine tool coordinate system so as to obtain the second position;
the correction module is also used for correcting the matrix rigid body transformation matrix by combining the calibrated coordinate system and the transformed coordinate system.
3. A storage medium having stored therein at least one instruction that is loaded and executed by a processor to implement the operations performed by the path modification method of claim 1.
4. A machine tool apparatus comprising a processor and a memory having at least one instruction stored therein, the instruction being loaded and executed by the processor to perform the operations performed by the path modification method of claim 1.
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| CN202210936702.5A CN115302505B (en) | 2022-08-05 | 2022-08-05 | Path correction method, system, storage medium and machine tool equipment |
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| CN115302505B true CN115302505B (en) | 2023-06-13 |
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