Research On Robot Milling Control System Based On 840Dsl CNC System

In response to the milling requirements of thin-walled workpieces in the aerospace field,traditional machine tools are difficult to meet the rapid response raquirement of product development due to the poor openness and low flexibility.In order to improve the processing efficiency of products and solve the processing problems of large structural parts,it's urgent to develop a flexible manufacturing unit based on industrial robots.So this paper studies a precision solution that combines numerical control system and industrial robot,which installed absolute encoders at the joints of the robot to improve the processing accuracy.In this paper,the precise control technology of industrial robot based on 840Dsl is deeply studied,the main research contents are as follows:(1)The processing objects of the robotic milling system are introduced,the requirements of the robotic milling system are analyzed,the robotic milling process is summarized,the overall scheme of the hardware and software of the robotic milling system is proposed.(2)The geometic parameter error model of KUKA robot is established,the source of the robot joint angle error is analyzed,the joint angle feedback compensation model is established,the industrial robot control method based on the joint angle feedback is proposed,and the industrial robot control process based on the joint angle feedback is formed.(3)The overall architecture of the control software based on 840Dsl is designed,the kinematic parameters of the robot under the 840Dsl CNC system are configured,the joint scale is calibrated,and the upper integrated control software for the robot is developed.(4)The milling platform of the robot is set up to test.The effect of joint angle feedback compensation is experimentally verified,the results show that the joint angle feedback can effectively improve the absolute accuracy of the robot and reduce the trajectory error of the robot.