Modeling and experimental research on mirror model of robotic processing equipment

Establishing a mirror model of processing equipment in the digital space is the basis for intelligent manufacturing. The mirror model and processing equipment constitute a digital twin, so as to realize the processing simulation, simulation and parameter optimization of the processing equipment in the digital space. The axis rotation method is used to obtain the axis and position of each axis of the physical robot, and the decoupling calibration of the geometric parameters and the zero position of the physical robot is realized. The coordinate transformation method is used to establish the kinematics equation of the physical robot and the Newton iteration method is used to obtain the inverse kinematics solution. In the digital space, the calibrated geometric parameters are used to establish a mirror model of the physical robot, and the tool path generation and post-processing modules are integrated. The experimental results show that the maximum processing error of the physical robot′s constant attitude is 0.28 mm, and the machining error range of the robot′s variable attitude is -0.83~+0.52 mm.