基于上位机的工业机器人磨头工具坐标系自动标定技术研究  

Research on Automatic Calibration Technology of Robot Grinding Head Tool Coordinate System Based on Host Computer

作　　者：梁忠伟[1] 谢智铭 梁家健 张卫鹏 唐荟 殷浚彬 Liang Zhongwei;Xie Zhiming;Liang Jiajian;Zhang Weipeng;Tang Hui;Yin Junbin(The Robot and Intelligent Equipment Research Institute of Guangzhou Industry and Information Technology Commission,School of Mechanical&Electric Engineering,Guangzhou University,Guangzhou 510006,China;School of Computer and Artificial Intelligence,Beijing Technology and Business University,Beijing 100048,China)

机构地区：[1]广州大学机械与电气工程学院广州市工业和信息化委员会机器人及智能装备研究平台,广州510006 [2]北京工商大学计算机与人工智能学院,北京100048

出　　处：《机电工程技术》2024年第7期1-7,118,共8页Mechanical & Electrical Engineering Technology

基　　金：国家重点研发计划项目(2023YFD2101004);国家自然科学基金资助项目(51975136);广东省自然科学基金资助项目(2023A1515011723);教育部产学研协同创新项目(230703950183536,220903950010408);广东省高校重点领域专项(2023ZDZX3016,2019KZDZX1009);广州高校产学研重点项目(202235139);广州大学科研项目(YJ2023034,YJ2021002)。

摘　　要：将工业机器人自动标定引入制造领域,能够在需要更换执行工具时实现快速标定,提高效率。针对目前工业机器人工具坐标系需要人工操作示教器进行标定的情况,设计了一种基于上位机的机器人磨头工具坐标系自动标定系统。该系统通过上位机软件实现对FANUC M20iA/20M工业机器人磨头工具坐标系的自动标定,包括工具中心点位置标定和工具中心点姿态标定,降低了示教器的介入,减少了标定时间。工具中心点位置标定通过四点标定法求解末端连杆坐标系位姿数据,应用最小二乘法求解磨头工具坐标系位置,采用四元数表示法降低计算量;工具中心点姿态标定保持工具坐标系位姿不变,记录不同标定点的末端连杆坐标系数据,并设计关节运动控制模块、设置坐标系模块和位姿标定线性移动模块。上位机通过Socket与机器人通信联动,发送控制指令,实现自动标定过程控制。仿真与实验结果表明,所设计标定系统能够对磨头工具坐标系实现自动高精度标定,标定精度±0.3 mm,满足实际加工需求,为后续的工业机器人磨抛加工应用奠定了基础。Introducing automatic calibration of industrial robots into the manufacturing field can achieve rapid calibration and improve efficiency when the actuation tool needs to be replaced.Addressing the current situation where the tool coordinate systems of industrial robots require manual calibration using teach pendants,a robot grinding tool coordinate system automatic calibration system based on an upper computer is designed.The system achieves automatic calibration of the tool coordinate system for FANUC M20iA/20M industrial robots through upper computer software,covering the calibration of the tool center point position and orientation.This reduces the need for teach pendants and shortens the calibration time.The position calibration of the tool center point is accomplished using a four-point calibration method to solve the end effector coordinate system pose data.The grinding tool coordinate system position is determined using the least squares method,and quaternion representation is applied to reduce computational complexity.The orientation calibration of the tool center point maintains the tool coordinate system pose,records end effector coordinate system data at different calibration points,and incorporates joint motion control modules,coordinate system setup modules,and pose calibration linear motion modules.The upper computer communicates with the robot through Socket,sending control commands to facilitate automatic calibration process control.Simulation and experimental results indicate that the designed calibration system can achieve automatic high-precision calibration of the grinding tool coordinate system with an accuracy of ±0.3 mm,meeting practical processing requirements and laying the foundation for subsequent applications of industrial robot grinding and polishing.

关 键 词：上位机 工业机器人 磨头 工具坐标系 自动标定 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]