机器人柔性扫描测量系统标定方法  

Calibration Method of Robot of Flexible Scanning Measurement System

作　　者：王钰鑫 周志龙 刘巍[1] WANG Yuxin;ZHOU Zhilong;LIU Wei(College of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《新技术新工艺》2022年第7期74-80,共7页New Technology & New Process

基　　金：国家杰出青年科学基金资助项目(52125504);国家重点研发计划项目(2018YFA0703304);国家科技重大专项项目(2018ZX04018001-005);兴辽计划项目(XLYC1807086,XLYC1801008)。

摘　　要：为了实现复杂工件的在线快速测量,开发了一种基于工业机器人与结构光扫描仪的柔性测量系统,结构光传感器安装在机械臂末端。针对该系统整体测量精度不足问题,提出了一种基于距离约束的手眼关系参数和机器人运动学参数联合标定方法。首先,通过机器人单轴旋转与基于罗德里格矩阵的算法实现手眼关系初始标定;然后,建立了基于距离约束的误差模型,通过Levenberg-Marquardt算法辨识系统参数,保证了参数辨识的准确性和鲁棒性,最终实现了对手眼参数误差和机器人运动学参数误差的修正。基于KUKA机器人和结构光扫描仪进行了标定和测量试验。试验结果表明,在机器人的工作空间内,距离误差的最大值由0.8893 mm降低到0.4249 mm,平均值由0.7784 mm降低到0.3852 mm,验证了该标定方法的有效性。In order to realize the on-line rapid measurement of complex workpieces,it was developed that a flexible measurement system based on industrial robot and structured light scanner,and the structured light sensor was installed at the end of the manipulator.Aimed at the problem of insufficient overall measurement accuracy of the system,a joint calibration method of hand-eye relationship parameters and robot kinematics parameters based on distance constraint was proposed.Firstly,the initial calibration of the hand-eye relationship was realized by the single axis rotation of the robot and the algorithm based on Rodrigues matrix.Secondly,the errors model based on distance constraint was established.The system parameters were identified by Levenberg-Marquardt algorithm to ensure the accuracy and robustness of parameter identification.Finally,the correction of hand-eye parameters error and robot kinematics parameters errors was realized.Calibration and measurement experiments were carried out based on KUKA robot and structured light scanner.The experimental results showed that in the workspace of the robot,the maximum value of distance error was reduced from 0.8893 mm to 0.4249 mm,and the average value was reduced from 0.7784 mm to 0.3852 mm,which verified the effectiveness of the calibration method.

关 键 词：柔性测量系统 机器人 结构光扫描仪 距离约束 手眼标定 误差修正 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]