机器人位姿测量中激光跟踪仪布局位置研究

应用激光跟踪仪进行机器人位姿测量时,为了减小激光跟踪仪分布位置对测量结果的影响,对激光跟踪仪布局位置开展优化。以ABB IRB1410型机器人为研究对象,规划了其测量区域。通过构建激光跟踪仪误差传递函数,对激光跟踪仪测距误差、测角误差对整体坐标测量精度影响进行分析。通过仿真分析研究了激光跟踪仪不同分布位置下机器人测量区域内测量点整体偏差的分布规律。通过构建激光跟踪仪布局评价函数并基于MATLAB无约束线性优化算法确定了激光跟踪仪最优布局位置主要位于测量区域中心轴线及其延长线附近,并对最优位置相邻区域整体测量偏差的分布规律进行了分析,为机器人现场测量提供一定的参考依据。

Research on layout position of laser tracker in robot pose measurement

In the application of laser tracker for robot pose measurement,in order to reduce the influence of the laser tracker’s distribution position on the measurement results,the layout position of the laser tracker is optimized. Taking ABB IRB1410 robot as the research object,the measurement area is planned. By constructing the laser tracker error transfer function,the influences of the laser tracker ranging error and angle measurement error on the overall coordinate measurement accuracy are analyzed. Through the simulation analysis,the distribution regulation of the overall deviation of the measuring points in the measuring area of laser under different distribution positions of the laser tracker is studied. By constructing the laser tracker layout evaluation function and based on MATLAB unconstrained linear optimization algorithm,it is determined that the optimal layout position of the laser tracker is mainly located near the central axis of the measurement area and its extension line,the distribution regulation of the overall measurement deviation in the adjacent area of the optimal position is analyzed,which can provide a certain reference for on-site measurement of the robot.