高精度机器人打磨系统标定算法研究与实现

针对自主研发的机器人打磨系统打磨精度差等问题，通过误差源分析，分别在工具、工件标定算法及实现方面进行了研究。针对打磨使用刀具的特点，选择合适的工具标定算法，设计辅助标定工装，完成了打磨工具的位姿标定，提高了打磨工具的标定精度。同时根据打磨工件标定算法及工件的特点，设计标定块，利用辅助特征点三点标定方法及合理的测量方法，完成了工件的高精度匹配。通过离线编程生成打磨程序，从而实现了高质量、高精度的机器人打磨作业。

Research and Implementation of Calibration Algorithm for High Precision Robot Polishing System

Aiming at the problem of poor grinding precision of the robot polishing system, by analyzing error sources, the calibration algorithm and implementation of tools and workpieces were studied. According to the characteristics of grinding tools, the appropriate tool calibration algorithm was selected,the auxiliary calibration tooling was designed, the position calibration of the grinding tool was completed,and the calibration accuracy of the grinding tool was improved . At the same time, according to the workpiece calibration algorithm and workpiece characteristics, the calibration block was designed,three point calibration method based on auxiliary feature points and reasonable measurement method were used to complete the high precision matching of workpiece. Through the off line programming, the grinding procedure was realized, and the high quality and high precision robot polishing task was realized.