Abstract: A method for predicting a thermal error of a spindle of a computer numerical control (CNC) machine tool based on twin feature transferring of a virtual-real prototype, is provided, including: first, building a spindle physical prototype experiment table, and screening temperature sensitive points outside the physical prototype spindle, so as to establish an autoregressive distributed lag model; second, determining a temperature synchronization lag point on the physical prototype spindle corresponding to the temperature sensitive point outside the physical prototype spindle, so as to construct a thermal error analysis model; thereafter, establishing a virtual prototype and transferring the twin feature of the physical prototype, and by integrating a twin coupling relationship between the physical prototype spindle and the virtual prototype spindle, realizing the thermal error prediction.

Abstract: An evolutionary compensation method for a spindle rotation error of a CNC grinding machine is provided. Feature points are determined at an edge of a central hole of a spindle of a CNC grinding machine, and a spindle rotation error in-situ measuring device is fixed on the grinding machine and aligned with the edge of the central hole; a trajectory image of the feature points is acquired by using the measuring device; a measured value of the spindle rotation error is obtained according to the trajectory image; features of the spindle rotation error are fused with the measured value of the spindle rotation error, a spindle rotation error compensation model is established, to output a spindle rotation error compensation value, thereby compensating the spindle rotation error. By continuously calibrating the error model using the measured value, accuracy of the error model has been continuously optimized.

Abstract: Provided is a generalization generation method of industrial robot pose trajectories supporting changeable operation path points, which relates to the field of robot trajectory planning. The method includes: acquiring a plurality of groups of robot end pose trajectories; aligning time steps of the pose trajectories via a multi-dimensional dynamic time warping algorithm; constructing a Gaussian mixture model of robot pose trajectories in combination with a variational Bayesian method and an attitude quaternion tangent space mapping method; calculating reference pose trajectory distribution via a Gaussian mixture regression method; performing kernelized representation on pose trajectory distribution, and solving an optimal hyperparameter of a kernel function by minimizing a root mean square error of a reproduced reference trajectory; and generating the robot end pose trajectories adapted to the operation path points by updating the reference pose trajectory distribution.

Abstract: A method for predicting machined surface roughness of parts based on attention and transfer learning is provided.

Abstract: Provided is a generalization generation method of industrial robot pose trajectories supporting changeable operation path points, which relates to the field of robot trajectory planning. The method includes: acquiring a plurality of groups of robot end pose trajectories; aligning time steps of the pose trajectories via a multi-dimensional dynamic time warping algorithm; constructing a Gaussian mixture model of robot pose trajectories in combination with a variational Bayesian method and an attitude quaternion tangent space mapping method; calculating reference pose trajectory distribution via a Gaussian mixture regression method; performing kernelized representation on pose trajectory distribution, and solving an optimal hyperparameter of a kernel function by minimizing a root mean square error of a reproduced reference trajectory; and generating the robot end pose trajectories adapted to the operation path points by updating the reference pose trajectory distribution.

Abstract: A method for predicting a thermal error of a spindle of a computer numerical control (CNC) machine tool based on twin feature transferring of a virtual-real prototype, is provided, including: first, building a spindle physical prototype experiment table, and screening temperature sensitive points outside the physical prototype spindle, so as to establish an autoregressive distributed lag model; second, determining a temperature synchronization lag point on the physical prototype spindle corresponding to the temperature sensitive point outside the physical prototype spindle, so as to construct a thermal error analysis model; thereafter, establishing a virtual prototype and transferring the twin feature of the physical prototype, and by integrating a twin coupling relationship between the physical prototype spindle and the virtual prototype spindle, realizing the thermal error prediction.

Abstract: A method of constructing a digital twin physical field of a computer numerical control machine tool with double order reduction is provided. A physical field finite element simulation sample data set in a working state sampling space has an order preliminarily reduced to sparse grid node data via an improved K Nearest Neighbor (KNN) algorithm, so that the number of point sets is kept within the real-time rendering capability range of graphic rendering software. A digital twin physical field proxy model is trained using a radial basis function (RBF) to realize reconstruction of the physical field. The proxy model is iteratively optimized using a genetic algorithm to solve the problem of deviation between a proxy physical field model and a real physical model. Finally, the proxy model is deployed to a digital twin system, and the physical field distribution is solved in real time.

Abstract: An evolutionary compensation method for a spindle rotation error of a CNC grinding machine is provided. Feature points are determined at an edge of a central hole of a spindle of a CNC grinding machine, and a spindle rotation error in-situ measuring device is fixed on the grinding machine and aligned with the edge of the central hole; a trajectory image of the feature points is acquired by using the measuring device; a measured value of the spindle rotation error is obtained according to the trajectory image; features of the spindle rotation error are fused with the measured value of the spindle rotation error, a spindle rotation error compensation model is established, to output a spindle rotation error compensation value, thereby compensating the spindle rotation error. By continuously calibrating the error model using the measured value, accuracy of the error model has been continuously optimized.