ABB弧焊机器人系统工具与工件标定研究
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摘要
以ABB弧焊机器人系统标定为研究对象,提出了焊枪工具标定的六点法和角接焊工件标定的三点法。六点法通过前4点以不同姿态接近空间固定参考点建立焊枪与机器人末端位置关系,后2点相对于初始位形做2次平移运动建立姿态约束关系。在工具标定的基础上,针对角接焊工件的特点,以水平放置的钢平面为基准,通过示教焊缝上两点及平面内另一点,建立了工件相对于机器人基坐标系的位姿关系。实验表明,算法可快速实现弧焊机器人系统的标定,符合工业现场的实际需求。
In the light of ABB arc welding robot system calibration, the six points method for welding tool calibration and special three points method for welding work-piece calibration are proposed. The six points method is implemented by first four points aproaching to a space fixed reference point and establishing the position relation between welding torch and the robot end effector, then attitude constraint relation is established by translational motion of last two points with respect to the initial configuration. On the basis of the tool calibration and the characteristics of the corner welding work-piece, the position and orientation of the workpiece relative to the robot base coordinate system are established by teaching two points in the seam and another point in the horizontal steel plane. Experiments show that the algorithm can quickly realize the calibration of the robot system and meet the actual needs of the industrial scene.
In the light of ABB arc welding robot system calibration, the six points method for welding tool calibration and special three points method for welding work-piece calibration are proposed. The six points method is implemented by first four points aproaching to a space fixed reference point and establishing the position relation between welding torch and the robot end effector, then attitude constraint relation is established by translational motion of last two points with respect to the initial configuration. On the basis of the tool calibration and the characteristics of the corner welding work-piece, the position and orientation of the workpiece relative to the robot base coordinate system are established by teaching two points in the seam and another point in the horizontal steel plane. Experiments show that the algorithm can quickly realize the calibration of the robot system and meet the actual needs of the industrial scene.
引文
[1]朴永杰,邱涛,陈善本.弧焊机器人TCF参数的标定[J].机器人,2001,23(2):109-112.
[2]RUTHER M,LENZ M,BISCHOF H.The narcissistic robot:robot calibration using a mirror[C]//11thInternational Conference on Control Automation Robotics and Vision.Singapore,2010:169-174.
[3]赵娇娇,朱伟.弧焊机器人系统标定[J].福州大学学报(自然科学版),2008(增刊1):31-34.
[4]张华君,夏超,叶永龙.Staubli激光切割机器人工具标定[J].轻工机械,2013,31(2):7-11.
[5]宋月娥,吴林.用于机器人离线编程的工件标定算法研究[J].哈尔滨工业大学学报,2002,34(6):735-738.
[6]张文增,陈强,孙振国,等.弧焊机器人工件坐标系快速标定方法[J].焊接学报,2005,26(7):1-3.
[7]HORN R A,JOHNSON C R.矩阵分析[M].杨奇,译.北京:机械工业出版社,2005.
[8]叶晖,管小清.工业机器人实操与应用技巧[M].北京:机械工业出版社,2010.
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[10]HELZER C,现代焊接技术[M].陈茂爱,译.北京:化学工业出版社,2010.
[2]RUTHER M,LENZ M,BISCHOF H.The narcissistic robot:robot calibration using a mirror[C]//11thInternational Conference on Control Automation Robotics and Vision.Singapore,2010:169-174.
[3]赵娇娇,朱伟.弧焊机器人系统标定[J].福州大学学报(自然科学版),2008(增刊1):31-34.
[4]张华君,夏超,叶永龙.Staubli激光切割机器人工具标定[J].轻工机械,2013,31(2):7-11.
[5]宋月娥,吴林.用于机器人离线编程的工件标定算法研究[J].哈尔滨工业大学学报,2002,34(6):735-738.
[6]张文增,陈强,孙振国,等.弧焊机器人工件坐标系快速标定方法[J].焊接学报,2005,26(7):1-3.
[7]HORN R A,JOHNSON C R.矩阵分析[M].杨奇,译.北京:机械工业出版社,2005.
[8]叶晖,管小清.工业机器人实操与应用技巧[M].北京:机械工业出版社,2010.
[9]刘极峰.机器人技术基础[M].2版.北京:高等教育出版社,2012.
[10]HELZER C,现代焊接技术[M].陈茂爱,译.北京:化学工业出版社,2010.