基于IGCF-IBSCF算法和BCF-IBPSO-NESN算法的工业机器人末端执行器位姿重复性检测  

Industrial Robot End Effector Pose Repeatability Test Based on IGCF-IBSCF and BCF-IBPSO-NESN Algorithm

作　　者：于振 刘海林 裘祖荣[2] 安琪 YU Zhen;LIU Hailin;QIU Zurong;AN Qi(Institute of Oceanographic Instrumentation,Qilu University of Technology(Shandong Academy of Sciences),Qingdao 266061;State Key Laboratory of Precision Measuring Technology and Instrument,Tianjin University,Tianjin 300072;Department of Mechanical Engineering,Tsinghua University,Beijing 100084)

机构地区：[1]齐鲁工业大学(山东省科学院)海洋仪器仪表研究所,青岛266061 [2]天津大学精密测试技术及仪器国家重点实验室,天津300072 [3]清华大学机械工程系,北京100084

出　　处：《机械工程学报》2024年第19期71-87,共17页Journal of Mechanical Engineering

基　　金：齐鲁工业大学(山东科学院)科教产融合试点工程基础研究(2023PX031);青岛市自然科学基金(23-2-1-121-zyyd-jch);齐鲁工业大学(山东省科学院)科教产融合试点工程重大创新专传(2023JBZ03);山东省自然科学基金(ZR2023QE212)资助项目。

摘　　要：工业机器人在智能制造领域具有举足轻重的地位,其末端执行器位姿的重复性是衡量机器人完成精密作业能力的重要指标。针对机器人末端执行器的位姿重复性在线检测,提出了基于方向余弦的位姿重复性测量的理论模型,设计了一种基于改进的高斯曲线拟合-改进的B样条曲线拟合(IGCF-IBSCF)算法和最小二乘曲线拟合-改进的贝叶斯粒子群优化-非线性回声状态网络(BCF-IBPSO-NESN)算法的位姿重复性检测方法,通过获取十字线偏角和中心点位置,实现了机器人末端执行器位姿重复性的多点测量。实验结果表明:测量系统的位移测量精度为±1.5μm,角度测量精度为±2"。所述方法可用于工业机器人末端执行器的位姿重复性在线检测。Industrial robots play an important role in the field of intelligent manufacturing.The repeatability of the end effector position is an important indicator to measure the robot's ability to complete precision operations.A theoretical model of pose repeatability measurement based on directional cosine for the online detection of pose repeatability of robot end effectors is proposed,a pose repeatability measurement method based on improved Gaussian curve fitting-improved B-spline curve fitting(IGCF-IBSCF)algorithm and Bisquare curve fitting-improved Bayes particle swarm optimization-Nonlinear echo state network(BCF-IBPSO-NESN)algorithm is designed,and multi-point measurement of pose repeatability of robot end effectors by acquiring the offset angle of the cross line and the position of the center point are realized.The experimental results show that the displacement measurement accuracy of the measuring system is±1.5μm.The angle measurement accuracy is±2".The method described in this study can be used for online detection of position and posture repeatability of end effectors of industrial robots.

关 键 词：位姿重复性检测 高斯曲线拟合-改进的B样条曲线拟合算法 最小二乘曲线拟合-改进的贝叶斯粒子群优化-非线性回声状态网络算法 工业机器人末端执行器 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]