工业机器人坐标测量系统实时校准补偿技术  

Study on real-time calibration and compensation of the coordinate measurement system for industry robot

作　　者：刘常杰[1] 解成超[1] 叶声华[1] 

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072

出　　处：《光电子．激光》2011年第1期86-90,共5页Journal of Optoelectronics·Laser

基　　金：国家自然科学基金资助项目(50805105);国家"863"计划资助项目(2008AA042407);国家自然科学基金重点项目(50735003)

摘　　要：针对工业机器人测量系统连续长时间运行时参数不断发生变化,研究了一种采用实时校准的补偿方法。在测量周期内,多姿态测量空间固定点,根据固定点坐标与机器人参数的关系,快速反向求解出机器人变化的参数,实现机器人模型参数实时校准;将校准后的参数应用到测量模型中,有效地减小测量系统因机器人模型参数变化而引起的系统测量误差。实验表明,该方法能够有效地将系统测量误差从0.5 mm减小到0.2 mm。The accuracy of the robot measurement system is greatly affected by the parameter variations due to the heating problems from the robot and environmental changes after long time operation.A real-time calibration method was presented to compensate the system parameters of the robot.Several fixed points in the space with different poses were measured during the measuring circle.According to the relationship between the coordinates of the fixed points and the robot parameters,the parameters of the robot variations were calculated and calibrated in real-time.The system measuring errors resuting from the robot parameter variations were effectively reduced.The experimental results show that the system measurement error is reduced from 0.5 mm to 0.2 mm.

关 键 词：机器人 在线坐标测量系统 温度补偿 

分 类 号：TP212.14[自动化与计算机技术—检测技术与自动化装置]