工业机器人运动学标定技术的研究-数字化设计与制造专业论文.docx

摘 摘 要 I I 摘 要 机器人在工业生产中的应用范围以及所完成任务的复杂程度不断扩大，对工 业机器人位姿精度的要求也越来越高。其中对机器人运动学模型进行偏差标定补 偿进而提高其定位精度是目前机器人技术领域内的重要研究方向。 本文作为基于 PSD（Position Sensitive Device，即位置敏感传感器）和激光虚拟 空间线约束的，6 自由度工业机器人空间位姿及零位偏差自标定方法的一部分，以 ABB 公司的 IRB120 工业机器人为研究对象，在分析 PSD 传感器工作原理、工业机 器人运动学原理的基础上，建立了一种基于 PSD 的工业机器人无标定伺服定位系 统及相应的自适应控制算法，为基于 PSD 和激光虚拟空间线约束的工业机器人自 标定方法的实现奠定了基础。 论文的主要工作包括： 1.对 PSD 传感器工作原理进行分析研究，根据标定需要选择适当的 PSD 型 号，并建立相应的信号处理电路； 2.对 ABB IRB120 工业机器人的结构及参数进行分析的基础上，建立了相应的 机器人运动学模型； 3.在研究基于 PSD 和激光虚拟空间线约束的，6 自由度工业机器人空间位姿及 零位偏差自标定方法的基础上，为实现激光束在 PSD 传感器中心的自动准确定 位，建立了一种基于 PSD 的工业机器人无标定伺服定位系统及相应的自适应控制 算法。之后进行了仿真实验，仿真结果验证了该方法的有效性。 关键词：工业机器人；标定；PSD；伺服；自适应控制 Ab Abstract II II Abstract Nowadays, modern production needs more complex process which makes great improvement for industrial robots.The improvement depends on an important feature inherent to industrial robots: accuracy. Hence, calibration and offsetting on the robots kinematic model, and then improving the robots volumetric accuracy are urgently needed in the field of robotics technology. This paper is part of a 6 DOF industrial robots self-calibration method for its pose and zero offsets, which based on PSDs(Position Sensitive Detectors) and virtual linear constraint. In this paer, we selected the ABB IRB120 industrial robot as research subject. Based on the analysis of PSDs principle and industrial robots kinematic principle, we have built a servo system for uncalibrated robot and the corresponding adaptive control algorithm, which laid the foundation for the actualizing of the aboving industrial robots self-calibration method. The main contribution can be summarized as follows: An appropriate PSDs model was selected based on the research of PSDs principle. And then, a corresponding signal processing circuit was built. An IRB120 robots kinematic model was built based on its structure and parameters. By the research on the 6 DOF industrial robots self-calibration method for its pose and zero offsets, which based on PSDs and virtual linear