Robot operation system for nonferrous metal casting process
National key research and development plan
Aiming at the urgent need of automatic operation in the casting process of nonferrous metals such as zinc, zinc alloy and lead, this project puts forward the intelligent multi-source information fusion technology of robot visual signal and force perception, and realizes on-line and accurate detection of physical quantities such as irregular burr of metal ingot, thickness/shape of semi-solid oxide slag, flatness of ingot surface, real-time posture of operating object, etc. On this basis, combined with the technological characteristics and operation requirements such as slag stripping, burr cutting and stacking, a real-time trajectory planning method and an adaptive dynamic adjustment strategy for robots based on visual/force sensing information are proposed, which provide necessary information for precise cooperative control of robots.
