In order to solve the programming challenge of grinding and polishing free-form surfaces for industrial robots, a twin architecture integrating physical and virtual entities is proposed. On this basis, an automatic programming system that integrates trajectory planning and post-processing program generation methods for the entire machining process is constructed. On the basis of the composition of the robot grinding and polishing machining system, the machining process, and kinematic analysis, a robot trajectory planning program for the whole machining process is given. The virtual surface to be ground and polished is discretized and extracted to obtain the curve to be polished and smoothed by spline interpolation. Then, according to the principle of equal chord height error, an algorithm of adaptively generating grinding and polishing points with controllable grinding and polishing errors is designed. This algorithm is the grinding and polishing trajectory planning method. The transition trajectories before and after the grinding and polishing trajectory are automatically generated through the drag teaching of the virtual entity of the robotic grinding and polishing machining. A loop traversal algorithm for the entire machining process is designed on the basis of the analysis of robot motion commands and robot control statement structures. This algorithm is designed to generate entire machining process control programs by post-processing grinding and polishing trajectories and transition trajectories. Finally, a novel interactive automatic programming system has been developed. It integrates and develops three key components: trajectory planning, program generation, and robot machining virtual entity. This system automatically generates the control programs for controlling physical entity machining. The machining process of the physical entity is stable and smooth and can satisfy the specified deviation for a given grinding and polishing chord height error condition.
Li et al. (Wed,) studied this question.