Position and Pose Control of Industrial Robot Polishing Based on Sensor Signal
The position and pose adjustment of industrial robot polishing is affected by joint torque,which causes large adjustment devia-tion and reduces its working efficiency.In order to optimize the effect of position and orientation adjustment of industrial robot polis-hing,a method of position and orientation adjustment of industrial robot polishing based on laser sensing signal is proposed.The indus-trial CCD camera and OpenCV image processor are used to detect the surface defects of the mould.The laser sensing signal is used to detect the surface roughness of the mold,and the polishing path of the industrial robot is planned according to the mold defects and roughness points.On this basis,the position and posture of industrial robot under actual working conditions are adjusted from the aspects of processing speed,processing position and joint torque to achieve the position and posture adjustment of industrial robot polishing.The experimental results show that the coordinates and posture angles of 10 groups of industrial robot adjusted by using the proposed method are consistent with the actual setting results,the deviation of the coincidence rate between the end acceleration of the industrial robot track and the end acceleration of the ideal track is less than 0.1 mm/s2,and the position and posture adjustment time of the industrial robot polishing by the proposed method is less than 2.5 min,improving the polishing efficiency.