Robotic Grinding Path Planning and Control for Weld Seam on Complex Welded Components

With the rapid development of industry, the demand for grinding in the field of mechanical manufacturing is increasing, and the use of robot grinding instead of manual grinding has increasingly become the focus of market demand. In this context, a large part of the grinding work in industrial production still adopts manual grinding, especially for the grinding of complex welded components. Due to its complex structure, it is impossible to effectively use ordinary commercial abrasive tools to plan the grinding path in the interference area. Based on this, this paper designs a set of complex welding component weld grinding robot system. The depth camera is used to realize the perception and reconstruction of the weld, and then the grinding trajectory is obtained by processing the point cloud data of the weld. From the planning of the grinding path, the grinding adaptive law control strategy is proposed to realize the speed adaptation of the grinding direction of the weld. This paper realizes the use of ordinary commercially available grinding wheels to grind the welds of complex welded components in many different scenarios without the need for specific grinding tools. This system reduces the production cost from the root, improves the universality of the grinding tool of the complex welding component grinding system, and enables the manufacturing enterprise to complete the grinding operation more economically and efficiently.