测量机器人本体标定技术研究
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摘要
将工业机器人作为立体视觉传感器的运动载体,不仅具有视觉检测技术非接触、快速的特点,而且由于机器人的灵活可编程而增强了整个测量系统的柔性。在运用机器人视觉检测系统进行检测时,为了保证整个系统的测量精度,就必须对测量系统的各个环节进行标定,其中最困难的一个环节就是对机器人本体的标定,也就是建立起机器人处于任意姿态时,其关节变量到末端法兰盘坐标系位姿之间的准确映射关系。
论文的主要工作及创造性研究包括以下几个方面:
1.针对本实验室的机器人详细介绍了其各种坐标系统,并对该机器人的几种通讯方式进行了详细说明,编写了相应的通讯程序。
2.建立了机器人D-H运动学模型,分析了机器人的正、逆向运动学问题,并给出了运算实例。在此基础上详细分析了机器人的微分运动学,这也是机器人几何标定的理论基础。
3.提出了基于距离约束条件的机器人连杆参数求解模型即距离误差最小化约束法,详细推导了距离误差模型法的求解过程,并将距离准确度和距离误差作为衡量机器人精度的指标。
4.首次提出虚拟基坐标系机器人几何参数标定方法,不仅测量速度快,而且准确度高。
5.针对三种几何参数标定方法,构建了机器人的标定试验系统,并对机器人和跟踪仪的数据分别进行采集,建立求解方程,给出标定结果。试验表明,经过标定后机器人的距离准确度提高了将近2倍。
6.总结试验经验,提出标定过程中需要注意并改进的几个问题。
This structure type ,that the robot is the moving carrier of the stereo vision sensor, not only keeps the vision measuring technology’s characteristics of non-contact and quickness, but also enhances the flexibility of the whole measuring system. In order to ensure the measurement accuracy of the system, every part should be calibrated. The most difficult step is the calibration of the robot, i.e. establishing the correct mapping from the joint variables to the position and rotation of the end-effector when robot is at any posture.
The main research work and creative research made by this thesis are summarized as follows:
1. According to the robot of our lab, all kinds of coordinate systems are presented in detail. The communication mode is introduced, and the communication procedure is programmed.
2. The D-H kinematics model is established, and the forward and inverse kinematics is analyzed, then some examples are presented. The differential kinematics problem is analyzed detailed, which is the theory foundation of robot geometrical calibration.
3. Robot link parameter solving model based on distance constrain condition namely error distance minimizing constrain is put forward. The solution procedure of distance model is deduced in detail, and both distance accuracy and distance error are used to judge the precision of robot.
4. For the first time the method of virtual base coordinate system, which belongs to robot geometric parameter calibration method, is presented. This method not only realizes fast detection, but has high accuracy.
5. According to three geometrical calibration methods, the calibration experiment system is established. The data of robot and tracker are collected individually, and calibration results are educed by solving equations. The experiments prove that the robot’s distance accuracy enhanced nearly upon two times after calibration.
6. Generalize experiment experience and put forward several questions which need pay attention and improve in the process of calibration.
论文的主要工作及创造性研究包括以下几个方面:
1.针对本实验室的机器人详细介绍了其各种坐标系统,并对该机器人的几种通讯方式进行了详细说明,编写了相应的通讯程序。
2.建立了机器人D-H运动学模型,分析了机器人的正、逆向运动学问题,并给出了运算实例。在此基础上详细分析了机器人的微分运动学,这也是机器人几何标定的理论基础。
3.提出了基于距离约束条件的机器人连杆参数求解模型即距离误差最小化约束法,详细推导了距离误差模型法的求解过程,并将距离准确度和距离误差作为衡量机器人精度的指标。
4.首次提出虚拟基坐标系机器人几何参数标定方法,不仅测量速度快,而且准确度高。
5.针对三种几何参数标定方法,构建了机器人的标定试验系统,并对机器人和跟踪仪的数据分别进行采集,建立求解方程,给出标定结果。试验表明,经过标定后机器人的距离准确度提高了将近2倍。
6.总结试验经验,提出标定过程中需要注意并改进的几个问题。
This structure type ,that the robot is the moving carrier of the stereo vision sensor, not only keeps the vision measuring technology’s characteristics of non-contact and quickness, but also enhances the flexibility of the whole measuring system. In order to ensure the measurement accuracy of the system, every part should be calibrated. The most difficult step is the calibration of the robot, i.e. establishing the correct mapping from the joint variables to the position and rotation of the end-effector when robot is at any posture.
The main research work and creative research made by this thesis are summarized as follows:
1. According to the robot of our lab, all kinds of coordinate systems are presented in detail. The communication mode is introduced, and the communication procedure is programmed.
2. The D-H kinematics model is established, and the forward and inverse kinematics is analyzed, then some examples are presented. The differential kinematics problem is analyzed detailed, which is the theory foundation of robot geometrical calibration.
3. Robot link parameter solving model based on distance constrain condition namely error distance minimizing constrain is put forward. The solution procedure of distance model is deduced in detail, and both distance accuracy and distance error are used to judge the precision of robot.
4. For the first time the method of virtual base coordinate system, which belongs to robot geometric parameter calibration method, is presented. This method not only realizes fast detection, but has high accuracy.
5. According to three geometrical calibration methods, the calibration experiment system is established. The data of robot and tracker are collected individually, and calibration results are educed by solving equations. The experiments prove that the robot’s distance accuracy enhanced nearly upon two times after calibration.
6. Generalize experiment experience and put forward several questions which need pay attention and improve in the process of calibration.
引文
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