Virtual TCP Setup and Its Application in Robot Digital Programming and Processing
In digital manufacturing,in order to realize trajectory generation,optimization and machining simulation of robot machi-ning equipment in the digital space,the tool center point(TCP)coordinate system was used to transform the trajectory and realize the trajectory motion simulation consistent with the actual processing,so as to improve the machining accuracy.When the robot works with the workpiece in hand,its TCP coordinate system and trajectory point are at the end of the robot at the same time,which cannot drive the robot movement.The virtual TCP coordinate system was set up and the constraint condition that the virtual TCP coordinate system overlapped with the track point was used to unify the track conversion method of the workpiece in hand and the tool in hand.When run-ning the trajectory points,the TCP coordinate system of the robot was made to coincide with the transformed trajectory points successive-ly to ensure that the simulation process was consistent with the actual robot machining process.By setting multiple virtual TCP coordi-nate systems,the same trajectory points could be reused and the programming efficiency could be improved.In order to verify the correct-ness of the setting of virtual TCP coordinate system,the virtual TCP coordinate system was set in the digital space of robot milling and grinding respectively,and the consistency of trajectory running in the two spaces was verified through the processing of actual products.By adjusting the virtual TCP position in the digital space,the grinding accuracy can reach 0.15 mm.
digital spacevirtual tool center point coordinate systemtrajectory transformationrobot processing
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