Workpiece and cutter pose calibration method based on robotic edge milling error tracking
US12122009B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 5, 2024 |
| Grant date | Oct 22, 2024 |
| Priority date | — |
| Expiry date | Jun 5, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45145
- WIPO fieldMachine tools
- WIPO sectorMechanical engineering
Abstract
A workpiece and cutter pose calibration method based on robotic edge milling error tracking, including: 1. generating an edge milling trajectory point cloud; 2. obtaining an actual edge milling three-dimensional point cloud; 3. generating an updated edge milling three-dimensional point cloud; 4. calculating an edge milling allowance error and a posture inclination error; 5. solving position errors of the workpiece and cutter; 6. solving posture errors of the workpiece and cutter; 7. updating pose parameters of the workpiece and cutter; 8. repeating steps 4 to 7 until pose error vectors of the workpiece and cutter are both not greater than corresponding preset thresholds. The disclosure performs error comparison, error modeling, and error tracking on the three-dimensional point cloud and edge milling trajectory point cloud, even if the cutter has system errors such as axis deviation, the disclosure can accurately identify pose errors of the workpiece and cutter during edge milling.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.