Data-driven High Precision Machining Methods for Robots
A data-driven robot machining method with high precision was proposed.Firstly,the actual machining area is scanned by laser,and the reverse reconstruction of the machining area was realized by the point cloud feature reconstruction method,which solved the problem of inconsistency between the workpiece and the theoretical numerical model after deformation.Secondly,the curve was discretized after the reverse reconstruction to generate the robot machining point sequence.Finally,the robot trajectory error compensation algorithm based on vision guidance was studied,and the precision machining of large composite thin-walled parts was realized.The experimental results showed that the machining error of the proposed data-driven robot high precision machining method was within±0.2mm,and the robot trajectory error was reduced by 88.93%,which improved the machining accuracy of large composite thin-walled parts.
large composite thin-walled partthree-dimensional scanningreverse reconstructionvisual servoedge millingrobot
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