基于球面约束的机器人系统标定  

Robot System Calibration Based on Spherical Constraint

作　　者：林巨广[1] 童洋洋[1] 韩金娥[1] 荣海龙[1] 汪洋[1] LIN Ju-guang TONG Yang-yang HAN Jin-e RONG Hai-long WANG Yang(School of Mechanical and Automobile Engineering,Hefei University of Technology, Hefei 20009 ,Chin)

机构地区：[1]合肥工业大学机械与汽车工程学院,合肥230009

出　　处：《组合机床与自动化加工技术》2016年第9期35-39,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家科技支撑项目(2012BAF06B01);国家智能制造装备发展专项项目(发改办高技[2011]2548号)

摘　　要：针对机器人系统现场标定问题,提出一种利用百分表位移测量装置,基于球面约束的机器人工具坐标系以及工件坐标系标定方法。在DELMIA软件中建立仿真平台,运用非线性最小二乘算法成功对工具参数进行辨识求解。对某焊接机器人系统进行现场标定实验并在标定完成后导入离线程序进行轨迹偏离度验证。结果表明机器人轨迹偏离度得到改善,一致性偏差保持在0.3mm以内,稳定性较好,该标定方法的可行性得到验证。For the robot system calibration problem in the field,a method for tool and workpiece calibration is proposed using the dial indicator displacement measuring device based on spherical constraint. A simulation platform is established in DELMIA software,Using nonlinear least squares algorithm to identify the tool parameters successfully. Do a calibration experiment for a welding robot system in the field,after finish the calibration,we import the offline program to verify the trajectory deviation. The results showthat the trajectory deviation is reduced and the consistency bias keep within 0. 3mm. The most important is that the trajectory deviation has a better stability. The feasibility of this calibration method is verified.

关 键 词：标定 球面约束 非线性最小二乘 轨迹偏离度 

分 类 号：TH39[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]