To upgrade the surface tracking control technology of grinding and polishing robot,an automatic generation method of grinding and polishing trajectory of free-form surface is proposed.The STL model of the workpiece is generated,and Bezier triangle surface fitting method is applied to abtain the fitting surface of the workpiece.Based on spiral grinding and polishing trajectory,free suface trajectory planning is realized.All the trajectories are generated by Isoparameter method and trajectory offset method.According to the variations of curve path rates,adaptive adjustment on control point spacing is made to avoid interferences during curve offset.By installing a 6D force sensor at the wrist of the industrial robot,the motion control of the robot is carried out in combination with a force/position hybrid control method.The results from the experimental platform verify the effectiveness of the proposed method in surface tracking control.
维普
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