工业机器人工作空间约束下激光雷达站位规划
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摘要
为了解决规划的激光雷达站位满足机器人的可达性问题,文中提出了融合工业机器人工作空间和激光雷达测量特性的站位规划约束模型。借助Denavit-Hartenberg(D-H)方法建立六自由度工业机器人各关节坐标系,采用包络法计算出腕关节的工作空间。依据规划的激光雷达姿态和雷达尺寸计算出激光雷达的可达范围。建立激光雷达站位坐标满足工业机器人可达性约束。结果表明:文中约束方法实现了雷达站位自动规划,验证了所提约束模型的有效性,为大跨度空间下机器人与测量设备结合应用提供了可行途径。
For the accessibility of industrial robots in the planning of a laser radar station,the paper proposes a station planning constraint model which combines industrial robot workspace with laser radar measurement characteristics.Firstly,the coordinate system of the joints of a six-degree-freedom industrial robot is established by D-H method,and the workspace of its wrist joints is calculated by the enveloping method.Then,the reachable range of laser radar is determined according to the posture and size of the laser radar to be planned.The constraint conditions of the laser radar station within the reachable range are established,so that the station planning can meet the accessibility constraints of industrial robots.Finally,the proposed constraint method is applied in an automobile company to verify its effectiveness.The study provides a feasible approach for robots working with measuring equipment in a large space.
For the accessibility of industrial robots in the planning of a laser radar station,the paper proposes a station planning constraint model which combines industrial robot workspace with laser radar measurement characteristics.Firstly,the coordinate system of the joints of a six-degree-freedom industrial robot is established by D-H method,and the workspace of its wrist joints is calculated by the enveloping method.Then,the reachable range of laser radar is determined according to the posture and size of the laser radar to be planned.The constraint conditions of the laser radar station within the reachable range are established,so that the station planning can meet the accessibility constraints of industrial robots.Finally,the proposed constraint method is applied in an automobile company to verify its effectiveness.The study provides a feasible approach for robots working with measuring equipment in a large space.
引文
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[2] 李洪全.三坐标测量技术在汽车制造业的应用[D].天津:天津大学,2004.LI Hongquan.Application of Three Coordinate Measurement Technology in Automobile Manufacturing Industry[D].Tianjin:Tianjin University,2004.(in Chinese)
[3] 安志勇,曹秒,段洁.数字化测量技术在飞机装配中的应用[J].航空制造技术,2013(18):48.AN Zhiyong,CAO Miao,DUAN Jie.Application of Digital Measurement Technology in Aircraft Assembly[J].Aeronautical Manufacturing Technology,2013(18):48.(in Chinese)
[4] 胡宇群,秦龙刚,黄翔.基于激光雷达的机载设备安装姿态校准[J].南京航空航天大学学报,2010,42(1):112.HU Yuqun,QIN Longgang,HUANG Xiang.Mounted Position Calibration for Airborne Equipment with Laser Radar[J].Journal of Nanjing University of Aeronautics & Astronautics,2010,42(1):112.(in Chinese)
[5] 陈登海,秦龙刚,黄翔.基于激光雷达的飞机水平测量[J].中国制造业信息化,2009,38(5):78.CHEN Denghai,QIN Longgang,HUANG Xiang.Level Measurement of Airplane Based on Laser Radar[J].Manufacturing Informatization Engineering of China,2009,38(5):78.(in Chinese)
[6] TALBOT J,WANG Q,BRADY N,et al.Offshore Wind Turbine Blades Measurement Using Coherent Laser Radar[J].Measurement,2016,79:53.
[7] 林雪竹,李丽娟,曹国华,等.大部件对接中iGPS高精度位姿测量优化设计[J].航空学报,2015,36(4):1299.LIN Xuezhu,LI Lijuan,CAO Guohua,et al.Optimal Design Based on iGPS High-Precision Posture Measurement for Large-Sized Component Joining[J].Acta Aeronautica ET Astronautica Sinica,2015,36(4):1299.(in Chinese)
[8] SHI Z,LI Y,LIU G.Adaptive Torque Estimation of Robot Joint with Harmonic Drive Transmission[J].Mechanical Systems & Signal Processing,2017,96:1.
[9] 周炜,廖文和,田威.基于空间插值的工业机器人精度补偿方法理论与试验[J].机械工程学报,2013,49(3):42.ZHOU Wei,LIAO Wenhe,TIAN Wei.Theory and Experiment of Industrial Robot Accuracy Compensation Method Based on Spatial Interpolation[J].Journal of Mechanical Engineering,2013,49(3):42.(in Chinese)
[10] FAULWASSER T,WEBER T,ZOMETA P,et al.Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot[J].IEEE Transactions on Control Systems Technology,2016,25(4):1.
[11] 尹仕斌.工业机器人定位误差分级补偿与精度维护方法研究[D].天津:天津大学,2015.YIN Shibin.Research on the Graded Calibration and Accuracy Maintenance Technique for an Industrial Robot[D].Tianjin:Tianjin University,2015.(in Chinese)
[12] 黄晔.基于工业机器人的X射线CT检测系统研究[D].北京:北京理工大学,2015.HUANG Ye.X-ray CT Detection System Based on Technology of Industrial Robot[D].Beijing:Beijing Institute of Technology,2015.(in Chinese)
[13] 刘常杰,陈益伟,邾继贵,等.一种工业机器人柔性在线坐标测量系统[J].光电子·激光,2010,21(12):1817.LIU Changjie,CHEN Yiwei,ZHU Jigui,et al.On-line Flexible Coordinate Measurement System Based on an Industry Robot[J].Journal of Optoelectronics·Laser,2010,21(12):1817.(in Chinese)
[14] 西西里安诺,夏维科,维拉尼,等.机器人学:建模、规划与控制[M].张国良,曾静,陈励华,等,译.西安:西安交通大学出版社,2015.SICILIANO B,SCIAVICCO L,VILLANI L,et al.Robotics:Modelling,Planning and Control[M].ZHANG Guoliang,ZENG Jing,CHEN Lihua,et al,Translated.Xi’an:Xi’an Jiaotong University Press,2015.(in Chinese)