计算机科学 ›› 2022, Vol. 49 ›› Issue (7): 187-195.doi: 10.11896/jsjkx.210500135
何晓, 周佳立, 吴超
HE Xiao, ZHOU Jia-li, WU Chao
摘要: 针对铣削机器人路径轨迹绝对拟合精度低及空间路径拟合会产生刀路误差的问题,提出了一种无须精密仪器即可获得有效标定的方法。研究重点在于提高铣削加工精度。首先,通过重新计算和修正机器人路径轨迹控制点的方式,解决了路径拟合带来的切削误差问题,为接下来的切削测量精度提供了进一步的保障;然后,针对铣削主轴使工具末端位置产生的偏移,在机器人标定模型中加入了自重及外加负载模型,并且特别引入了包含角度数据的约束方程和目标函数,增加了标定数据的全面性并提高了标定效率;最后,利用此方法对KUKA60机器人进行参数标定实验,实验显示,经过标定后的铣削机器人的加工精度得到了显著的提高,铣削方块边长和夹角精度分别从0.520 mm和30分降为0.240 mm和16分,提高了53.8%和46.7%。
中图分类号:
[1]XUAN J Q,XU S H.Review on kinematics calibration technology of serial robots[J].International Journal of Precision Engineering and Manufacturing,2014,15(8):1759-1774. [2]JIAO G T,FENG Y H,WANG F,et al.The analysis method of robot's comprehensive pose error under the influence of multiple factors[J].Journal of Basic Science and Engineering Science,2004,12(4):435-442. [3]LI S P,LI C L,HAN J B,et al.Application of binocular vision single step multi-target detection method for robot grasping[J].Journal of Chongqing Technology and Business University(Na-tural Science Edition),2021,38(5):68-74. [4]XIONG G,DING Y,ZHU L M,et al.A product-of-exponential-based robot calibration method with optimal measurement configurations[J].International Journal of Advanced Robotic Systems,2017,14(6):1-12. [5]TSAI M S,NIEN H W,YAU H T.Development of a real-time look-ahead interpolation methodology with spline-fitting technique for high-speed machining[J].International Journal of Advanced Manufacturing Technology,2010,47(5/6/7/8):621-638. [6]WALTON D J,MEEK D S.G 2 blends of linear segments with cubics and Pythagorean-hodograph quintics[J].International Journal of Computer Mathematics,2009,86(9):1498-1511. [7]SANTOLARIA J,CONTE J,GINES M.Laser tracker-based ki-nematic parameter calibration of industrial robots by improved CPA method and active retroreflector[J].International Journal of Advanced Manufacturing Technology,2013,66(9/10/11/12):2087-2106. [8]DOU Q Q.Control of one arm robot based on RBF neural net-work model[J].Journal of Chongqing Technology and Business University(Natural Science Edition),2021,38(2):23-27. [9]YANG X,WU L,LI J,et al.A minimal kinematic model for se-rial robot calibration using POE formula[J].Robotics and Computer-Integrated Manufacturing,2014,30(3):326-334. [10]GAO G,ZHANG H,SAN H,et al.Kinematic calibration for industrial robots using articulated arm coordinate machines[J].International Journal of Modelling,Identification and Control,2019,31(1):16-26. [11]CHEN T,LIN J,WU D,et al.Research of Calibration Method for Industrial Robot Based on Error Model of Position[J].Applied Sciences,2021,11(3):1287. [12]YU C,CHEN X,XI J.Determination of optimal measurementconfigurations for self-calibrating a robotic visual inspection system with multiple point constraints[J].The International Journal of Advanced Manufacturing Technology,2018,96,3365-3375. [13]GU L F,YANG G L,FANG Z J,et al.A new type of robot self-calibration device and its algorithm[J].Robot,2020,42(1):100-109. [14]GAUDREAULT M,JOUBAIR A,BONEV I.Self-calibration of an industrial robot using a novel affordable 3D measuring device[J].Sensors,2018,18(10):3380. [15]GU L F,YANG G L.A two-step self-calibration method with portable measurement devices for industrial robots based on POE formula[C]//International Conference on Intelligent Robotics and Applications.Cham:Springer,2019:715-727. [16]WANG R,WU A,CHEN X,et al.A point and distance constraint based 6R robot calibration method through machine vision[J].Robotics and Computer-Integrated Manufacturing,2020,65:101959. [17]HAYATI S,MIRMIRANI M.Improving the absolute positio-ning accuracy of robot manipulators[J].Journal of Robotic Systems,1985,2(4):397-413. [18]ZHAO Y B,WEN X L,KANG C S,et al.Research on improvement of industry robot positioning accuracy based on ZRM[J].Chinese Journal of Scientific Instrument,2020,41(5):76-84. [19]OKAMURA K,PARK F C.Kinematic calibration using theproduct of exponentials formula[J].Robotica,1996,14(4):415-421. [20]ROCHA C R,TONETTO C P,DIAS A.A comparison between the Denavit-Hartenberg and the screw-based methods used in kinematic modeling of robot manipulators[J].Robotics and Computer-Integrated Manufacturing,2011,27(4):723-728. [21]LU B F,HAN J B,ZHANG Y W.Simulation analysis and experiment of industrial robot motion control system based on dSPACE[J].Journal of Chongqing Technology and Business University(Natural Science Edition),2021,38(6):50-57. [22]CAKIR M,DENIZ C.High precise and zero-cost solution for fully automatic industrial robot TCP calibration[J].Industrial Robot:the International Journal of Robotics Research and Application,2019,46(5):650-659. [23]PAANANEN V J.Dual light barrier method for six degrees of freedom tool center point calibration of an industrial robot[D].Lappeenranta University of Technology,2014. [24]GAO W B,WANG H G,JIANG Y.A calibration method for serial robots based on POE formula[J].Robot,2013,35(2):156-161. [25]LOU Y,CHEN T,WU Y,et al.Improved and modified geome-tric formulation of POE based kinematic calibration of serial robots[C]//2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.IEEE,2009:5261-5266. [26]LI C,WU Y Q,LOWE H,et al.POE-based robot kinematic calibration using axis configuration space and the adjoint error model[J].IEEE Transactions on Robotics,2016,32(5):1264-1279. [27]WANG Y,LIU C J,RENG Y J,et al.Positioning Error Compensation Technology of Industrial Coordinate Measuring Robot[J].Journal of Mechanical Engineering,2011,47(15):31-36. [28]KLIMCHIK A,FURET B,CARO S,et al.Identification of the manipulator stiffness model parameters in industrial environment[J].Mechanism and Machine Theory,2015,90:1-22. |
[1] | 孙明轩,翁丁恩,张钰. 有限值终态递归神经网络计算 Time-variant Neurocomputing with Finite-value Terminal Recurrent Neural Networks 计算机科学, 2020, 47(1): 212-218. https://doi.org/10.11896/jsjkx.181001898 |
[2] | 王欣,高焕玉,张明明. 一种基于Kruppa方程的分步自标定方法 Multi-step Self-calibration Method Based on Kruppa Equations 计算机科学, 2012, 39(9): 266-268. |
|