Computer Science ›› 2022, Vol. 49 ›› Issue (7): 187-195.doi: 10.11896/jsjkx.210500135

• Artificial Intelligence • Previous Articles     Next Articles

Low Cost Accurate Calibration and Tool Path Fitting Method for Milling Robot

HE Xiao, ZHOU Jia-li, WU Chao   

  1. College of Science,Zhejiang University of Technology,Hangzhou 310023,China
  • Received:2021-05-18 Revised:2021-07-28 Online:2022-07-15 Published:2022-07-12
  • About author:HE Xiao,born in 1995,master.His main research interests include indus-trial robot calibration,pattern recognition and image processing.
    WU Chao,born in 1982,Ph.D,lecturer.His main research interests include pattern recognition and image processing,intelligent systems and applications.
  • Supported by:
    Youth Science Foundation Project(11301482) and Key R&D Project of Zhejiang Province(2020C01005,2020C01006,2021C03164).

Abstract: Aiming at the problems of low accuracy of absolute path fitting of milling robot and tool path error caused by spatial path fitting,a method for obtaining effective calibration without precision instrument is proposed.This paper focuses on improving the machining accuracy of milling.Firstly,the cutting error caused by path fitting is solved by recalculating and revising the control points of robot path trajectory,which provides further guarantee for the following cutting measurement accuracy.Secondly,the self-gravity and external load model are added into the robot calibration model because of the offset of tool end position caused by milling spindle.And the constraint equation and objective function containing angle data are introduced to increase the comprehensiveness of calibration data and improve the calibration efficiency.The proposed method is used to calibrate the para-meters of Kuka60 robot.Experiments show that the machining accuracy of calibrated robot improves significantly.The accuracy of milling block distance and angle decreases from 0.520 mm and 30 min to 0.240 mm and 16 min respectively,and the milling accuracy increase by 53.8% and 46.7%.

Key words: Angle error, Industrial robot, Product of exponential formula, Self-calibration, Trajectory calibration

CLC Number: 

  • TP242
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