六点法激光定位抓取的误差分析
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摘要
针对传统方法进行定位抓取准确性差、分辨率低、操作不便捷等问题,提出使用六点法结合激光三角法的定位抓取技术。相关参数的选择是影响激光三角法的测量精度,以及被测物体上激光点坐标获取时的误差的主要因素。通过分析六点法和激光三角法的基本原理,基于布尔沙模型,推导得到测量误差与相关参数之间的关系。利用MATLAB仿真分析参数与激光三角法测量过程中传感器灵敏度和测量误差的关系,以及对被测物体上激光点具体坐标获取过程的影响,最终得出误差随相关参数变化的规律,对避免测量粗大误差具有一定的实际意义。
Aiming at the problems of poor positioning accuracy, low resolution and inconvenient operation in the traditional method, a six-point method combined with laser triangulation positioning and grabbing technique was proposed. The selection of relevant parameters and the error in the acquisition of laser spot on the measured object were the main factors determining the measurement accuracy. By analyzing the basic principles of the six-point method and the laser triangulation method, the relationship between the measurement error and the related parameters was obtained based on the Boolean model. MATLAB was utilized to simulate the relationship between parameters and sensor sensitivity and measurement error during laser triangulation measurement, and the influence of laser point specific coordinate acquisition process on the measured object. Through this method, the law that the error changed with the relevant parameters was obtained, indicating the practical significance of avoided coarse errors in the measurement.
Aiming at the problems of poor positioning accuracy, low resolution and inconvenient operation in the traditional method, a six-point method combined with laser triangulation positioning and grabbing technique was proposed. The selection of relevant parameters and the error in the acquisition of laser spot on the measured object were the main factors determining the measurement accuracy. By analyzing the basic principles of the six-point method and the laser triangulation method, the relationship between the measurement error and the related parameters was obtained based on the Boolean model. MATLAB was utilized to simulate the relationship between parameters and sensor sensitivity and measurement error during laser triangulation measurement, and the influence of laser point specific coordinate acquisition process on the measured object. Through this method, the law that the error changed with the relevant parameters was obtained, indicating the practical significance of avoided coarse errors in the measurement.
引文
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[16] 梅浩.工业机器人快速标定的误差分析研究[D].南京:南京理工大学,2017.Mei Hao.Research on error analysis of industrial robot rapid calibration[D].Nanjing:Nanjing University of Science and Technology,2017.
[2] 郑德华,沈云中,刘春.三维激光扫描仪及其测量误差影响因素分析[J].测绘工程,2005,14(2):32-34.Zheng Dehua,Shen Yunzhong,Liu Chun.Analysis of factors affecting 3D laser scanner and its measurement error[J].Surveying and Mapping Engineering,2005,14(2):32-34.
[3] 刘尧夫.激光三角法传感技术应用研究[D].天津:天津大学,2017.Liu Yaofu.Application research of laser triangulation sensing technology[D].Tianjin:Tianjin University,2017.
[4] 郭万川,梅碧舟.六点定位原理及其应用[J].机械,2007,34(3):49-50.Guo Wanchuan,Mei Bizhou.The principle of six-point positioning and its application[J].Machinery,2007,34(3):49-50.
[5] 张用,郝卫东,朱博最,等.六自由度机器人焊接轨迹研究[J].微型机与应用,2016,35(7):16-18.Zhang Yong,Hao Weidong,Zhu Bowei,et al.Research on welding trajectory of six-degree-of-freedom robot[J].Microcomputer & Applications,2016,35(7):16-18.
[6] Aurora Cuartero,Julia Armesto,Pablo G Rodríguez,et al.Error analysis of terrestrial laser scanning data by means of spherical statistics and 3D graphs[J].Sensors,2010,10(7):10128-10145.
[7] 李福运.工业机器人TCP自标定精度叠加方法的设计与应用[J].机械,2017,44(8):50-53.Li Fuyun.Design and application of TCP self-calibration accuracy superposition method for industrial robots[J].Machinery,2017,44(8):50-53.
[8] 冯俊艳,冯其波,匡翠方.高精度激光位移传感器的技术现状[J].应用光学,2004,25(3):33-36.Feng Junyan,Feng Qibo,Kuang Cuifang.Current status of high precision laser displacement sensors[J].Journal of Applied Optics,2004,25(3):33-36.
[9] 蔡春明.基于视觉引导的激光齿轮倒角测量系统研究[D].天津:天津科技大学,2013.Cai Chunming.Research on laser gear chamfer measurement system based on vision guidance [D].Tianjin:Tianjin University of Science and Technology,2013.
[10] 姜松,张仁杰,李倩倩,等.激光位移传感器检测类圆弧工件表面研究[J].电子科技,2017,30(3):79-82.Jiang Song,Zhang Renjie,Li Qianqian,et al.Study on the surface of arc-like workpieces detected by laser displacement sensor[J].Electronic Science and Technology,2017,30(3):79-82.
[11] 袁有德.弧焊机器人工具坐标系的标定方法[J].山西青年,2016(22):187-191.Yuan Youde.Calibration method for tool coordinate system of arc welding robot[J].Shanxi Youth,2016,(22):187-191.
[12] 王丹彤.测控技术在测量误差理论方面的应用及发展[J].山东工业技术,2018(2):222-228.Wang Dantong.Application and development of measurement and control technology in measurement error theory [J].Shandong Industrial Technology,2018(2):222-228.
[13] 周坤,季海焦,刘海滨.激光三角法测量中被测物表面特性对测量精度影响的分析[J].光学与光电技术,2009,7(2):70-73.Zhou Kun,Ji Haijiao,Liu Haibin.Analysis of the influen-ce of surface characteristics of measured objects on measurement accuracy in laser triangulation measurement[J].Optical and Optoelectronic Technology,2009,7(2):70-73.
[14] 段锦,吴君,端木繁一.激光能量密度分布的测量方法[J].吉林大学学报,2009,47(2):311-316.Duan Jin,Wu Jun,Duanmu Fanyi.A method for measuring the distribution of laser energy density[J].Journal of Jilin University,2009,47(2):311-316.
[15] 高卫,王云萍,李斌.强激光光束质量评价和测量方法研究[J].红外与激光工程,2003,32(1):61-64.Gao Wei,Wang Yunping,Li Bin.Study on beam quality evaluation and measurement methods of intense laser beams[J].Infrared and Laser Engineering,2003,32(1):61-64.
[16] 梅浩.工业机器人快速标定的误差分析研究[D].南京:南京理工大学,2017.Mei Hao.Research on error analysis of industrial robot rapid calibration[D].Nanjing:Nanjing University of Science and Technology,2017.