摘要
对六自由度KUKA机器人的定位精度补偿方法进行了研究。以激光跟踪仪为媒介建立机器人坐标系、工具坐标系和世界坐标系之间的转换关系,对于机器人工作空间内的任意定位点,将它在离线编程中的理论坐标与用激光跟踪仪测得的实际定位坐标之间的差异作为它的绝对定位误差。按一定的步长对机器人的工作空间进行立体空间网格划分,对于工作空间内的任一点,通过已划分的包围它的最小立方体网格的8个顶点的绝对定位误差进行空间插值来估算出该点的绝对定位误差,并将它逆补偿到理论坐标上用于提高机器人的绝对定位精度。试验结果表明,补偿前机器人的绝对定位精度为1～3mm,补偿后机器人的绝对定位误差的最大值为0.386mm,平均值为0.156mm,精度较未补偿前有了很大的提高,可以满足飞机自动化装配的高精度要求。
This paper studied a positioning accuracy compensation method of 6--DOF KUKA robot. Through the establishment of conversion relationship between the robot and laser tracker coordinate system, the absolute positioning errors were obtained by comparing the actual positioning coordinates measured by laser tracker with the corresponding theoretical coordinates. Firstly, the robot＇s work space was divided into many three--dimensional grids with a certain step, then for any point within the workspace, its absolute positioning error can be estimated by the absolute positioning errors of eight vertices of the three--dimensional grid which contained it in. Finally, the robot＇s absolute positioning accuracy was improved by inverse compensation of estimated positioning errors to the theoretical coordinates. The results show that the maximum value of the robot positioning accuracy is as 0. 386mm, and the mean value is as 0. 156mm, which are much more better than the previous values l-3mm. The robot can satisfy the requirements of aircraft automatic assembly.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2012年第19期2306-2311,共6页
China Mechanical Engineering
基金
江苏省科技支撑计划资助项目(BE2011178)
关键词
工业机器人
飞机装配
精度补偿
空间插值
定位精度
标定
industrial robot
aircraft assembly
accuracy compensation
spatial interpolation positioning accuracy
calibration
