基于传感信号的工业机器人抛光加工位姿控制  

Position and Pose Control of Industrial RobotPolishing Based on Sensor Signal

作　　者：孙列 董富江[2] SUN Lie;DONG Fujiang(Aircraft Academy,Xi’an Aeronautical Institute,Xi’an Shaanxi 710089,China;College Of Science,Ningxia Medical University,Yinchuan Ningxia 750004,China)

机构地区：[1]西安航空学院飞行器学院,陕西西安710089 [2]宁夏医科大学理学院,宁夏银川750004

出　　处：《传感技术学报》2024年第8期1369-1376,共8页Chinese Journal of Sensors and Actuators

基　　金：宁夏医科大学科研项目(XM2020018);宁夏自然科学基金项目(2020AAC03122)。

摘　　要：工业机器人抛光加工位姿调节受关节扭矩的影响,造成调节偏差较大,降低其工作效率。为了优化工业机器人抛光加工位姿调节效果,提出基于激光传感信号的工业机器人抛光加工位姿调节方法。利用工业级CCD相机和OpenCV图像处理器检测模具表面缺陷。利用激光传感信号检测模具表面粗糙度,根据模具缺陷和粗糙度位点规划工业机器人抛光加工路径。以此为基础,从加工速度、加工位置和关节扭矩三个角度调节工业机器人在实际工况下的位姿,实现工业机器人抛光加工位姿调节。实验结果表明,所提方法调节后的10组位姿编号工业机器人坐标和位姿角与实际设置结果一致,工业机器人轨迹末端加速度与理想轨迹末端加速度重合率偏差低于0.1 mm/s^(2),所提方法工业机器人抛光加工位姿调节时间低于2.5 min,提高了抛光加工工作效率。The position and pose adjustment of industrial robot polishing is affected by joint torque,which causes large adjustment devia-tion and reduces its working efficiency.In order to optimize the effect of position and orientation adjustment of industrial robot polis-hing,a method of position and orientation adjustment of industrial robot polishing based on laser sensing signal is proposed.The indus-trial CCD camera and OpenCV image processor are used to detect the surface defects of the mould.The laser sensing signal is used to detect the surface roughness of the mold,and the polishing path of the industrial robot is planned according to the mold defects and roughness points.On this basis,the position and posture of industrial robot under actual working conditions are adjusted from the aspects of processing speed,processing position and joint torque to achieve the position and posture adjustment of industrial robot polishing.The experimental results show that the coordinates and posture angles of 10 groups of industrial robot adjusted by using the proposed method are consistent with the actual setting results,the deviation of the coincidence rate between the end acceleration of the industrial robot track and the end acceleration of the ideal track is less than 0.1 mm/s^(2),and the position and posture adjustment time of the industrial robot polishing by the proposed method is less than 2.5 min,improving the polishing efficiency.

关 键 词：激光传感信号 工业机器人 抛光加工 磨具表面 规划路径 位姿调节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]