提高机器人扫描加工系统加工精度的方法  

A Method to Increase the Machining Accuracy of Robot Scanning and Machining System

作　　者：李剑峰[1] 郭永康[1] 朱建华[1] 徐敏[1] 汤青[1] 

机构地区：[1]四川大学物理科学与技术学院纳光子研究所

出　　处：《计算机辅助设计与图形学学报》2007年第8期1069-1074,共6页Journal of Computer-Aided Design & Computer Graphics

摘　　要：将机器人三维扫描系统应用到工业加工中,建立了机器人在线测量加工系统.利用已知半径的标准球体作为参照工具,提出一种基于几何约束的非线性优化方法.在线精确地标定了便携式三维扫描系统和机器人的位姿关系,提高了测量精度.同时,提出一种使用虚拟刀具工具中心点和预补偿机器人系统误差的方法,提高了机器人的加工精度.对吉他的边缘进行扫描和加工的实验结果表明:该系统具有稳定、高精度、易于自动化等优点.An on-line robot measurement and machining system is constructed thanks to the application of robot scanning system in industrial machining. By using a sphere with known diameter as calibration object, a new online approach based on nonlinear least squares optimization with geometry constraints is proposed to calibrate the pose of the portable scanner relative to the robot. Meanwhile, a new approach is also proposed to increase the machining accuracy by using virtual knife tool center point （TCP） together with a technique of robot system error pre-compensation. The experiment of scanning and machining the edge of a guitar is given to demonstrate the good stability, high precision, and high degree of automatization of our system.

关 键 词：三维测量 机器人加工 激光三维扫描仪 在线标定 加工路径 

分 类 号：TP302.1[自动化与计算机技术—计算机系统结构]