机床工件夹紧信号采集系统的设计与应用

数控机床通常采用的工件夹紧信号采集系统,需根据工件尺寸不断调整检测开关的位置来感知中心拉杆的位置以保证夹紧工件,存在浪费人力、物力以及影响加工效率的问题,因此,提出一种新的机床工件夹紧检测装置。介绍了工件夹紧信号采集系统,分析了工件夹紧信号检测步骤。通过实验表明,该装置具有能适应各种规格工件且无需反复调整检测装置的特点。     

机器人在不锈钢高压箱体螺柱焊接中的应用

机器人螺柱焊接技术主要是通过机器人编程将不同规格的螺钉焊接到不锈钢高压箱体上,其具有焊接精度高、焊接效率快、焊接质量好等优点.本文从机器人焊枪更换、工件位置偏移检测和工件表面平整度修正这三个方面介绍了机器人技术在螺柱焊接中的具体应用.     

机器人柔顺力控装置研究

机器人自动化抛光过程中,工具与工件间的接触力控制尤为重要.基于主动柔顺控制的原理,提出了面向工业机器人的柔顺力控装置及控制方法.进行了系统的结构设计和动力学建模,基于BP神经网络PID算法,设计了该柔顺力控装置的自适应控制策略.最后进行力控跟踪实验,实验结果表明,柔顺力控装置能够保证打磨过程中工件与工具之间的接触力恒定...     

机器人柔性抛光机床的研究

为满足机器人柔性抛光系统和抛光工艺要求,在抛光加工过程中,机器人柔性抛光机床的抛光轮轮径检测机构可使抛光轮与工件接触点的位置和线速度始终保持不变,这样抛光轮与工件接触点的线速度以及机器人的抛光路径不会随抛光轮的磨损而改变.该机器人柔性抛光机床还具有抛光力控制功能,可控制抛光轮与工件之间的抛光力保持恒定或小于阈值抛光力.     

工业机器人抛光作业的主动柔顺控制系统

针对抛光作业过程中的恒力问题,研究了工业机器人恒力抛光作业的主动柔顺控制系统。通过六维力传感器对采集到的力信号进行了滤波、重力补偿,得到抛光工具与工件间的实际接触力;采用模糊PID控制策略,控制恒力补偿装置实现柔顺位置补偿,保证抛光工具与工件间恒定的接触力,从而完成机器人对工件柔顺恒力抛光作业的要求。该方案可以满足抛光机器人对位置和力分别控制的要求。     

用于缸体清洗机校准冲屑位置的装置研究

ELWEMA清洗机是在汽车零部件加工中的主流设备.该设备通过工业机器人抓取工件搬运至清洗罐内,通过高压喷管对工件表面的孔系进行冲屑,具有柔性好、自动化程度高的特点.但是在实际校准高压喷管与工件上待冲洗孔位置时由于冲洗管内部结构限制,存在校准精度低、校准时间长的问题.因此我们设计制作了一种用于缸体清洗机校准冲屑位置的装置...     

基于双目结构光的工件位姿检测方法北大核心CSCD

面向机器人在柔性上下料中工件放置范围较大、摆放位姿不确定的应用场景,提出了一种基于双目结构光的空间位姿检测系统。基于双目结构光视觉系统获取工件点云数据,通过对Z轴分层遍历寻找工件最上层平面,利用其法向重新建立坐标系来矫正原始点云数据;将最上层点云数据映射转成2D图像,通过图像处理完成多个工件分割并获得工件位置信息进行点云粗配准,再通过ICP精配准得到工件的位姿信息。以检测料框为例进行实验,实验结果表明:视觉系统距检测目标3 m处,仍能输出多个料框的准确位姿信息,可有效提升工业机器人柔性上料的可靠性。     

工件的视觉定位及机器人控制的应用研究

机器人通过视觉对工件定位信息和工作环境进行分析,完成相关工作任务成为机器人发展的方向.论文通过双目相机的开发平台Triclops SDK进行二次开发,在PC上实现了机器人对工件位置信息的快速获取;通过ABB机器人控制软件Robotstudio以及PC SDK的二次开发,实现对机器人的控制;研究了以公共点为基础的七参数法,采用标定件的方式实现了相机-机器人坐标系的标定.实验证明了系统的可行性和有效性.     

基于工业机器人与机器视觉的红外传感器装配系统设计北大核心

针对红外传感器装配过程存在工件位置不准确等问题,设计了基于视觉定位技术的红外传感器自动装配系统。机械结构由工业机器人、供料单元、输送单元、视觉检测单元、快换工具单元和机器人第七轴等组成;利用视觉系统识别传感器端盖的位置和角度,并将结果换算到机器人世界坐标系,使机器人能够准确抓取到工件;搭建了基于以太网通信的PLC控制系统,完成红外传感器各零件的出料、输送、抓取及自动装配控制。实验表明,所设计的系统自动化程度高,运行可靠,具有较高的推广应用价值。     

数控卷边机工件位置和转速的检测

介绍了数控卷边机工件位置和转速的检测装置和检测方法.采用光电断续器为主的位置检测装置,简单实用;利用该装置,结合计算机系统时间进行工件转速测量,准确可靠;满足了数控卷边加工的需要.     

基于机器人实验教学平台的研制

结合机器人和电子技术,开发了机器人实验教学装置。该装置主要由机器人本体结构、MCU系统电路、电机驱动电路、显示电路及串口通信电路组成。它具有通用性强、控制功能齐全等特点,为学生理解和学习机器人、单片机、传感器等课程提供实物模型。     

Development of a Robotic System which Assists Unmanned Production Based on Cooperation between Off-Line Robots and On-line Robots. Part 3. 1 Development of an Off-Line Robot, Autonomous Navigation, and Detection of Faulty Workpieces in a Vibrating Parts Feeder

Remarkable advances in robotics and intelligent technology have made unmanned production realisable. Based on the off-line robot concept proposed in our first paper, an off-line robot and peripheral devices have been developed for the realisation of unmanned production. The developed robot has a power-wheeled steering (PWS) type mobile platform on which a double-arm manipulator is installed. In order to detect and recognise 3D objects, double CCD cameras are mounted on the top of the robot. Two types of robot end-effectors are developed to handle workpieces and conduct trouble shooting actions. A newly developed production trouble simulator is very useful in simulating and resolving production troubles. A virtual pilot plant for production composed of the off-line robot, two on-line robots, a vibrating bowl feeder, a belt conveyor and a production trouble simulator has been constructed and tests for production simulation have been undertaken. In this paper, autonomous navigation of the developed robot in the virtual pilot plant is investigated. Then a search for faulty parts in a parts feeder using the developed real-time image extraction method is carried out.     

Statistical error analysis and calibration of industrial robots for precision manufacturing

This paper presents a new perspective on the calibration of industrial robotics systems by describing robot position errors as time varying variations of the actual positions of the end-effector from the target position, the error calibration of a robotics manipulator is treated as a process rather than a state. Therefore the theory of variations is applicable. The importance of distinguishing the two kinds of variations, namely random system variations and assignable variations, in a robot calibration process is demonstrated through a Monte Carlo simulation.Statistical process control techniques provide a tool for measuring and characterising the position errors of robotics manipulators. Their application in this work, not only focuses on the development of mathematical formulation of calibration models, but provides a deeper understanding of the randomness of the errors in robot systems.It is also shown that if a robot system is adjusted for its random errors to compensate for undesirable results, the resulting output will be worse than if the robot system alone was not adjusted.     

基于视觉的机器人抓取技术的研究

该文提出了一种基于智能相机的机器人抓取系统,采用图像处理算法对相机捕获到的图像使用模板匹配、边缘查找及坐标变换,得到工件在机器人坐标系的位置和姿态,通过串口将处理后的工件位姿数据发送给机器人控制器,控制器向机器人发送运动指令。经实验验证,系统达到设计要求,在工业机器人系统中引入计算机视觉提高了机器人的柔性以及对环境的适应能力。     

移动机器人的定位算法

通过对移动机器人在未知环境中的运动分析，结合多传感器信息，提供一种新的移动机器人在未知环境中的定位算法。该算法可根据移动机器人的运动，不断更新其位置状态，并能对下一步位置状态进行预估计，然后根据实测传感器信息对预估值进行修正，获得实际位置状态。     

Current based compliance control method for minimizing an impact force at collision of service robot arm

A motion of a robot manipulator under environment for human and robot to coexist should be able to quickly sense external force and react for minimizing a damage due to physical contacts. In the absence of sensing external force, relative motions between robot and human are not predictable and unexpected collisions may occur at some position during motion of the robot arm. This paper proposes a real-time collision detection method and a compliance control based on detecting abnormal current value to minimize an impact force at the moment of collision between service robot arm and unknown obstacle. In the introduced method, the extra sensors such as the Force/Toque sensor or the visual sensor to detect the collision are not necessary. Instead of these sensors, the collision detection and the safety motion are achieved by a simple method based on the current characteristics in according to operating of each joint motor of robot manipulator. In order to evaluate the performance for minimizing an impact force, the proposed method is applied to the developed light weight robot arm for a service robot.     

Grid-based localization of a mobile robot using sonar sensors

This paper presents a technique for localization of a mobile robot using sonar sensors. Localization is the continual provision of knowledges of position that are deduced from its a priori position estimation. The environment of a robot is modeled by a two-dimensional grid map. We define a physically based sonar sensor model and employ an extended Kalman filter to estimate positions of the robot. Since the approach does not rely on an exact geometric model of an object, it is very simple and offers sufficient generality such that integration with concurrent mapping and localization can be achieved without major modifications. The performance and simplicity of the approach are demonstrated with the results produced by sets of experiments using a mobile robot equipped with sonar sensors.     

基于单片机及传感器的浮渣铲除机器人的设计

基于单片机及多种传感器,完成浮渣铲除工业机器人的制作。单片机作为系统检测和控制的核心,实现对机器人的智能控制。通过超声测距传感器来探测外部环境信息,检测轨道上障碍物浇铸盒的到来,信息反馈给微处理器发出控制指令,控制浮渣铲除机器人的运动,并能实时显示机器人各关节位置。     

A low-cost laser scanning solution for flexible robotic cells: spray coating

In this paper, an adaptive and low-cost robotic coating platform for small production series is presented. This new platform presents a flexible architecture that enables fast/automatic system adaptive behaviour without human intervention. The concept is based on contactless technology, using artificial vision and laser scanning to identify and characterize different workpieces travelling on a conveyor. Using laser triangulation, the workpieces are virtually reconstructed through a simplified cloud of three-dimensional (3D) points. From those reconstructed models, several algorithms are implemented to extract information about workpieces profile (pattern recognition), size, boundary and pose. Such information is then used to on-line adjust the “base” robot programmes. These robot programmes are off-line generated from a 3D computer-aided design model of each different workpiece profile. Finally, the robotic manipulator executes the coating process after its “base” programmes have been adjusted. This is a low-cost and fully autonomous system that allows adapting the robot’s behaviour to different manufacturing situations. It means that the robot is ready to work over any piece at any time, and thus, small production series can be reduced to as much as a one-object series. No skilled workers and large setup times are needed to operate it. Experimental results showed that this solution proved to be efficient and can be applied not only for spray coating purposes but also for many other industrial processes (automatic manipulation, pick-and-place, inspection, etc.).     

BP神经网络在拟人机器人步态稳定性中的应用

步态稳定是拟人机器人行走研究中的重要课题。介绍了零力矩点与稳定行走的关系,并假设机器人脚底装有力传感器。采用BP神经网络建立拟人机器人步态稳定的模型,仿真结果表明该方法简单易行,能够提高机器人步态稳定的实时性。