基于双目视觉测量系统的机器人误差检测方法  

Robot error detection method based on binocular vision measurement system

作　　者：严宏志[1,3] 邵冬世 韩奉林[1,3] 肖程晖 赵林鹤 Yan Hongzhi;Shao Dongshi;Han Fenglin;Xiao Chenghui;Zhao Linhe(College of Mechanical and Electrical Engineering,Central South University,Changsha 410012,China;Light Alloys Research Institute,Central South University,Changsha 410012,China;State Key Laboratory of High Performance Complex Manufacturing,Central South University,Changsha 410012,China)

机构地区：[1]中南大学机电工程学院,长沙410012 [2]中南大学轻合金研究院,长沙410012 [3]中南大学高性能复杂制造国家重点实验室,长沙410012

出　　处：《现代制造工程》2020年第9期81-87,94,共8页Modern Manufacturing Engineering

摘　　要：针对机器人存在的几何参数误差影响绝对定位精度的问题,提出一种基于双目视觉测量系统的机器人误差检测方法。采用修正的DH(MDH)模型建立了带几何误差的机器人运动学模型,根据工具中心点(TCP)实测点与误差补偿后的理论点应重合的原理,推导出误差辨识模型。为构建约束方程,利用平面和空间圆拟合,实现了测量坐标系到基坐标系的转换。通过仿真确定了可辨识的误差,初步验证了误差检测方法的有效性。搭建了误差检测实验装置,使用Handyprobe光笔测量仪进行了误差检测实验。误差补偿后,检验点组绝对定位误差均值减小81.02%,证明了基于双目视觉测量系统的机器人误差检测方法的有效性和可行性。Aiming at the problem that the geometric parameter error of the robot affects the absolute positioning accuracy,a robot error detection method based on binocular vision measurement system was proposed.The Modified DH(MDH)model was used to establish the kinematics model of the robot with geometric errors.According to the principle that the measured points of the Tool Center Point(TCP)and the theoretical points after error compensation should coincide,the error identification model was derived.In order to construct the constraint equation,the transformation of the measurement coordinate system to the base coordinate system was realized by plane and space circle fitting.The identifiable errors were determined by simulation,and the effectiveness of the error detection method was preliminarily verified.The error detection experimental device was built and the error detection experiment was carried out using the Handyprobe light pen measuring instrument.After the error compensation,the mean value of the absolute positioning error of the checkpoint group is reduced by 81.02%,which proves the effectiveness and feasibility of the robot error detection method based on the binocular vision measurement system.

关 键 词：机器人 误差检测 平面和空间圆拟合 双目视觉测量系统 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]