5. Machining Planning and Control of Industrial Robots
Summary: The structure of key parts for high-end equipment is becoming gradually complicated and large-scale, which poses challenges to high-precision machining and detection technology. Industrial robots represented by multi-axis serial robots are characterized by multiple degrees of freedom, strong flexibility and wide spatial accessibility. With corresponding machining and detection devices, industrial robots provide an effective solution for the in-situ integrated high-precision machining and detection of local complex features of key parts of high-end equipment. Due to the complex structure of key parts and the limited operating space of robots, some problems need to be solved in the process of robot machining and detection, including 1) difficult feature recognition of key parts, 2) robot end vibration caused by rapid changes of robot joint acceleration, 3) serious cumulative effect of robot end trajectory error, 4) increasing flexible effect of robot joints and links etc. The above technical problems have promoted the research of industrial robots in the fields of visual tracking and guidance, complex motion trajectory planning, end error compensation and accuracy improvement, and stiffness performance improvement etc. Nowadays, the machining planning and control of industrial robots has become one of the key technologies to realize high-precision machining and detection of key parts of high-end equipment.
Keywords: Industrial robot, integration of machining and detection, robot machining planning, robot control, machine vision