测量机器人在线动态温度误差补偿技术

为了降低温度变化对白车身激光视觉检测系统测量结果的影响,借助安装在工业机器人基座附近的靶标球,建立基于坐标值误差的温度误差补偿模型.同时考虑到机器人结构特点,分析了连杆参数变化规律,确定存在显著变化的参数.实验结果表明,使用这种标定方法可以使机器人重复定位精度接近标称水平,明显改善了测量系统的工作稳定性,满足在线动态补偿要求.

On-Iine and dynamic thermal error compensation for Measuring robot

To reduce the influence of the temperature variation on the measurement result of the car body-in-white laser visual measurement system,a temperature error compensation model based on coordinate error is established with a sphere target which is mounted near the base frame of the industrial robot.At the meantime,the link parameter deviation characteristic is analyzed and the parameters with significant deviation are derived,considering the structural feature of the robot.The experiment results indicate that...