基于多基站激光跟踪仪的机器人位姿精度测试方法  

The Accurate Robot Pose Measurement Based on Multi Base Station Laser Tracker

作　　者：陈章位 祖洪飞 洪伟 毛晨涛 CHEN Zhangwei;ZU Hongfei;HONG Wei;MAO Chentao(Econ Technology Ltd.,Hangzhou 310000,China;Zhejiang Sci-tech University,Hangzhou 310000,China;Shanghai Medical Device Testing Institute,Shanghai 200000,China;State Key Laboratory of Fluid Power and Mechatronics Systems,Zhejiang University,Hangzhou 310000,China)

机构地区：[1]杭州亿恒科技有限公司,浙江杭州310000 [2]浙江理工大学机械工程与自动控制学院,浙江杭州310000 [3]上海市医疗器械检测所,上海200000 [4]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310000

出　　处：《计测技术》2021年第1期10-16,共7页Metrology & Measurement Technology

基　　金：浙江省重点研发计划(2020C01028)。

摘　　要：针对机器人末端位姿精度测试的需求,提出了基于多基站激光跟踪仪的测试方法。该方法采用三靶球测量方案,通过非线性最小二乘法求解转站参数,并融合多基站测量数据实现机器人末端位姿精度的测试。通过直线导轨和转台标准器对该方法的测试效果进行实验验证,结果显示相对于单基站激光跟踪仪的测试方法,三基站测量的定位精度提升了38.5%,定点重复精度提升了42.2%。将该多基站测试方案在型号为IRB14000的工业机器人上进行了试验,根据工业机器人性能规范及其试验方法国标(GB/T 12642)要求进行操作,得到了机器人位姿精度的测试结果,证明了该多基站测试方案的可行性。In this paper,a measurement method based on multi base station laser tracker is proposed to meet the requirements of robot endpose precision test.This method adopts the three-target measurement scheme,solves the transfer station parameters by the nonlinear least square method,and fuses the multi base station test data to realize the testing of the robots’end pose accuracy.The measuring effect of this method is verified by experiments with linear guide rail and standard apparatus of turntable.The results show that the measurement positioning accuracy of this three station measurement method is improved by 38.5%and the repetitive positioning accuracy is improved by 42.2%compared with that of the single base station laser tracker.The multi base station measurement scheme is tested an IRB14000 robot and the measurement results of robot pose accuracy are obtained according to the national standard GB/T 12642:Industrial robots-Performance criteria and related test methods,which proved the feasibility of the method.

关 键 词：机器人位姿测试 多基站测量 激光跟踪仪 转站精度 非线性最小二乘法 

分 类 号：TB92[一般工业技术—计量学] TP241.2[机械工程—测试计量技术及仪器]