非接触式测量机器人的自标定研究

介绍了一种新型的测量机器人.该系统以串联机械手作为主体,激光位移传感器为测量探针,对球壳类、回转类部件的几何尺寸、表面缺陷进行非接触、高精度测量.针对该测量系统的特点,提出了一种新的自标定方法来识别机器人的运动学参数,并设计了专用的实物基准.该方法将机器人相对于基坐标系的关节位移分成两部分:相对于参考位形的关节位移和参考位形相对于基坐标系的关节位移,将后者和其它常值参数引入到误差模型.使用该方法不需要测量机器人相对于基坐标系的关节变量的值,不需要外部的测量系统,简便易行.仿真和实验均证明该方法是可行的.

A Self- Calibration Method For Noncontact Robotic Measuring System

A new type of robotic measuring machine has been developed to implement the noncontact and high accurate measurement of the revolving body. With the help of it, geometrical dimensions and surface defects of the workpiece could be obtained. In this paper, a new self calibration method is present to identify the kinematic parameter of robot manipulator. This self calibration is based on joint displacement measurement relative to a reference configuration rather than to the base frame. A special standard workpiece is designed to prove the effectiveness of this calibration method. Simulative and experimental results show that this new self calibration method is valid to improve the robot accuracy. This method is convenient and easy to implement.