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Grinding trajectory generation of hybrid robot based on Cartesian direct teaching technology

Grinding trajectory generation of hybrid robot based on Cartesian direct teaching technology The purpose of this paper is to generate grinding trajectory of unknown model parts simply and efficiently. In this paper, a method of grinding trajectory generation of hybrid robot based on Cartesian space direct teaching technology is proposed.Design/methodology/approachThis method first realizes the direct teaching of hybrid robot based on 3Dconnexion SpaceMouse (3DMouse) sensor, and the full path points of the robot are recorded in the teaching process. To reduce the jitter and make the speed control more freely when dragging the robot, the sensor data is processed by Kalman filter, and a variable admittance control model is established. And the joint constraint processing is given during teaching. After that, the path points are modified and fitted into double B-splines, and the speed planning is performed to generate the final grinding trajectory.FindingsExperiment verifies the feasibility of using direct teaching technology in Cartesian space to generate grinding trajectory of unknown model parts. By fitting all the teaching points into cubic B-spline, the smoothness of the grinding trajectory is improved.Practical implicationsThe whole method is verified by the self-developed TriMule-600 hybrid robot, and it can also be applied to other industrial robots.Originality/valueThe main contribution of this paper is to realize the direct teaching and trajectory generation of the hybrid robot in Cartesian space, which provides an effective new method for the robot to generate grinding trajectory of unknown model parts. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Grinding trajectory generation of hybrid robot based on Cartesian direct teaching technology

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References (28)

Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0143-991X
DOI
10.1108/ir-09-2020-0194
Publisher site
See Article on Publisher Site

Abstract

The purpose of this paper is to generate grinding trajectory of unknown model parts simply and efficiently. In this paper, a method of grinding trajectory generation of hybrid robot based on Cartesian space direct teaching technology is proposed.Design/methodology/approachThis method first realizes the direct teaching of hybrid robot based on 3Dconnexion SpaceMouse (3DMouse) sensor, and the full path points of the robot are recorded in the teaching process. To reduce the jitter and make the speed control more freely when dragging the robot, the sensor data is processed by Kalman filter, and a variable admittance control model is established. And the joint constraint processing is given during teaching. After that, the path points are modified and fitted into double B-splines, and the speed planning is performed to generate the final grinding trajectory.FindingsExperiment verifies the feasibility of using direct teaching technology in Cartesian space to generate grinding trajectory of unknown model parts. By fitting all the teaching points into cubic B-spline, the smoothness of the grinding trajectory is improved.Practical implicationsThe whole method is verified by the self-developed TriMule-600 hybrid robot, and it can also be applied to other industrial robots.Originality/valueThe main contribution of this paper is to realize the direct teaching and trajectory generation of the hybrid robot in Cartesian space, which provides an effective new method for the robot to generate grinding trajectory of unknown model parts.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: Aug 3, 2021

Keywords: Direct teaching; Hybrid robot; Grinding trajectory generation; Variable admittance model

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