基于在机测量点集配准的工件位姿自适应调整算法  

Adaptive Adjustment Algorithm for Workpiece Posture Based on Registration of On-machine Measurement Point Set

作　　者：贾壮军 李勇 JIA Zhuangjun;LI Yong(Xi'an R&D Branch Company of Hangzhou Hikang Robot Co.,Ltd.,Xi'an 710076,China;School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]杭州海康机器人股份有限公司西安研发分公司,陕西西安710076 [2]兰州交通大学机械工程学院,甘肃兰州730070

出　　处：《机械制造与自动化》2024年第3期190-194,208,共6页Machine Building & Automation

摘　　要：针对工件位姿变化所导致的加工轮廓误差控制问题,设计一种基于在机测量点集的配准算法。在理论测量面与实际测量面上分别选取参考测量点建立对应的局部坐标系,通过坐标系重合实现初始配准;通过初配准后的测量点集建立基于最小二乘距离的目标函数,利用自适应差分进化算法获得精确配准矩阵。根据两次配准结果计算工件位姿的调整矩阵。通过实例对算法进行验证,结果表明:所提算法可以较好地实现加工坐标系的调整,有利于加工轮廓误差控制。For the control of workpiece contour errors resulting from the change of workpiece posture,a matching algorithm based on on-machine measurement data is designed.The reference points on the theoretical and actual measured surfaces are selected to build local coordinate systems,and the initial matching is achieved by aligning the local coordinate systems.The objective function based on the least square method is established by the point sets after the initial matching.The optimal transformation matrix can be acquired by self-adaptive differential evolution algorithm.The posture adjustment matrix of workpiece can be achieved by the two matching results.The algorithm is verified through practical application.The results show that the designed algorithm can complete the adjustment of machining coordinate system,and contributes to the effctive control of contour errors.

关 键 词：在机测量 数据配准 轮廓误差 控制 

分 类 号：TH164[机械工程—机械制造及自动化] TP399[自动化与计算机技术—计算机应用技术]