基于wMPS的工业机器人定位精度自动补偿方法  

Automatic Compensation Method of Industrial Robot Positioning Accuracy Based onwMPS

作　　者：金兆瀚 杨凌辉[1] 杜兆才 史慎东 杨朔 JIN Zhaohan;YANG Yinghui∗;DU Zhaocai;SHI Shendong;YANG Shuo(State Key Laboratory of Precision Measuring Technology and Instruments,Tianjin University,Tianjin 300072,China;Key Laboratory of Digital Manufacturing Aviation Technology,AVIC Aeronautical Technology,Beijing 100000,China)

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 [2]中国航空制造技术研究院数字化制造技术航空科技重点实验室,北京100000

出　　处：《自动化与仪器仪表》2022年第4期202-209,共8页Automation & Instrumentation

基　　金：国家自然科学基金(No.51721003);国家自然科学基金(No.51975408)。

摘　　要：针对智能制造场景下工业机器人高精度定位控制需求,引入具有大空间多点并行测量能力的新型工作空间测量定位系统(workspace Measuring and Positioning System:wMPS)及机器人操作系统(ROS:Robot Operating System),实现工业机器人末端执行器位置的自主感知及自动补偿。通过设计具有周向感知能力定位的工业机器人末端定位补偿传感器,解决了复杂操作现场定位遮挡问题;针对wMPS与机器人自身坐标系标定的问题,设计基于坐标点集匹配的坐标转换标定方法,实现了坐标系转换参数精确解算,坐标系转换算精度在0.25 mm;针对工业机器人在大范围移动后定位精度降低的问题,设计了基于快速扩展随机树(Rapidly-exploring Random Trees,RRT)的控制补偿算法,通过wMPS测量反馈提供控制补偿坐标,在末端实现闭环小范围移动,以ABB机器人为研究对象,实现了wMPS与ROS系统集成,并实验验证了补偿算法的精确性,机器人定位精度提升90.14%。Aiming at the high precision positioning and control requirements of industrial robots in intelligent manufacturing scenarios,the autonomous sensing and automatic compensation of end-effector position of industrial robots are realized through workspace Measuring and Positioning System(wMPS) and Robot Operating System(ROS) with large space multi-point parallel measurement capability.By designing a circumferential sensing sensor for industrial robot terminal positioning compensation,the problem of location occlusion in complex operation site is solved.A coordinate transformation calibration method is designed based on coordinate point set matching to obtain the precise coordinate system conversion parameters between wMPS and robot,and the accuracy of coordinate system transformation was less than 0.25 mm.By designing a Rapidly expanding Random Trees(RRT) control compensation algorithm,using the measurement feedback of wMPS to provide control compensation coordinate,the closed-loop small range movement is realized at the end of the robot,the problem that the positioning accuracy of industrial robots decreases after moving in a large range is solved.ABB robot is taken as the research object to realize the integration of wMPS and ROS system,and the accuracy and effectiveness of the compensation algorithm is verified by compensation experiment,and the robot positioning accuracy is improved by 90.14%.

关 键 词：wMPS 机器人 控制补偿 ROS 坐标系转换 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]