摄影测量系统在自动制孔机器人末端执行器位姿调整中的应用  

Application of Industrial Photogrammetric System in Position and Pose Measurement of Automatic Hole Making Robotprocess End Effector

作　　者：王巍[1] 徐磊[1] 牛孝霞 陈雅君 WANG Wei;XU Lei;NIU Xiaoxia;CHEN Yajun(Academy of Aeronautics and Astronautics,Shenyang Aerospace University,Shenyang 110136,China;AECC Shenyang Engine Research Institute,Shenyang 110066,China)

机构地区：[1]沈阳航空航天大学航空宇航学院,沈阳110136 [2]中国航发沈阳发动机研究所,沈阳110066

出　　处：《机械工程师》2025年第4期1-5,12,共6页Mechanical Engineer

摘　　要：在飞机生产制造过程中,需要对机器人末端执行器位姿进行精确测量,这是开展机器人状态检测与智能控制的重要环节。文中利用摄影测量系统的非接触、精度高、空间大尺寸等优势,对自动制孔机器人末端执行器位姿进行实时监测,可以很好地解决其位姿高精度实时动态测量问题。经实验证明,该方法可以满足自动制孔机器人末端执行器定位精度要求,可以很好地解决这一问题,为实现机器人进一步智能化奠定重要基础。In the process of modern aircraft manufacturing,it is necessary to accurately measure the position and pose of the robot end effector,which is an important link to carry out robot status detection and intelligent control.In this paper,the advantages of non-contact,high precision and large space size of the photogrammetry system are used to monitor the pose of the end effector of the automatic hole making robot in real time,which can solve the problem of high-precision real-time dynamic measurement of the pose.The experiment shows that this method can meet the requirement of positioning accuracy of the end effector of the automatic hole making robot,and can solve this problem well,which lays an important foundation for realizing the further intelligence of the robot.

关 键 词：自动制孔机器人 摄影测量系统 位姿测量 定位精度 数字化测量 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] V262[自动化与计算机技术—控制科学与工程]