视觉引导机器人磨削系统工具坐标系标定方法研究  

Research on calibration methods for tool coordinate systems in vision-guided robotic grinding systems

作　　者：宋安玉 邓惠铭 杨梁 周中朝 张烈山 Song Anyu;Deng Huiming;Yang Liang;Zhou Zhongchao;Zhang Lieshan(School of Information Science and Technology,Zhejiang Sci-Tech University,Hangzhou 310018,China;Shandong Yiwei Automation Co.,Ltd,Zaozhuang 277499,China)

机构地区：[1]浙江理工大学信息科学与工程学院,杭州310018 [2]山东一唯自动化有限公司,枣庄277499

出　　处：《仪器仪表学报》2024年第12期157-168,共12页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金项目(62271449);国家级大学生创新创业训练计划项目(202310338046)资助。

摘　　要：视觉引导机器人磨削系统中的工具-机器人末端坐标系位姿关系的标定问题是决定磨削精度的关键。为了解决机器人工具坐标系标定时标定精度不高、效率较低的问题,提出一种基于试块磨削轮廓偏差校正的标定方案。该方案首先使用组合优化算法进行高精度手眼标定,其次使用线结构光传感器扫描磨削前后的标准试块建立理想与实际工具-机器人基坐标系位姿关系,并以此推出偏差矩阵,偏差矩阵用来补偿工具-机器人末端坐标系位姿关系,即最终实现工具坐标系标定。通过仿真和工具坐标系标定实验,结果表明工具坐标系的位置偏差达到0.25 mm以内,坐标系三轴的姿态偏差均小于0.01°;通过焊管焊缝磨削实验,得出磨削后的焊缝余高在0.2 mm以内,可满足大多数工业要求。The calibration problem of the tool-robot end coordinate system position relationship in the vision-guided robot grinding system is the key to determine the grinding accuracy.In order to solve the problem of poor calibration accuracy and low efficiency in the calibration of the robot tool coordinate system,this paper proposes a calibration scheme based on the grinding contour deviation correction of the test block.This scheme firstly uses a combined optimization algorithm to perform high-precision hand-eye calibration,and secondly uses a line-structured optical sensor to scan the standard test block before and after grinding to establish the ideal and actual tool-robot base coordinate system positional relationship,and in this way introduces the deviation matrix,which is used to compensate for the tool-robot end coordinate system positional relationship,finally realizes the tool coordinate system calibration.Through the simulation and tool calibration experiments,the results show that the position deviation of the tool coordinate system is within 0.25 mm,and the attitude deviation of the three axes of the coordinate system is less than 0.01°;through the pipe seam grinding experiments,it is concluded that the residual height of the weld seam after grinding is within 0.2 mm,which can satisfy most of the industrial requirements.The calibration of the tool-robot end coordinate system position relationship in the vision-guided robot grinding system is the key to determine the grinding accuracy.In order to solve the problem of poor calibration accuracy and low efficiency in the calibration of the robot tool coordinate system,this paper proposes a calibration scheme based on the grinding contour deviation correction of the test block.The proposed method begins with high-precision hand-eye calibration using a combined optimization algorithm.Next,a line-structured optical sensor scans the standard test block before and after grinding to establish the ideal and actual positional relationship between the tool and the robot

关 键 词：线结构光传感器 手眼标定 工具坐标系标定 焊缝磨削 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TH165.2[自动化与计算机技术—控制科学与工程]