九自由度弧焊机器人系统标定的研究-材料加工工程专业论文.docxVIP

何协阳也 λ学工学债 阳肚 Abstract With (he dcvelopment of industriaJ roboi techuology and i恼 wide spreading app!ication，the u吨，ent 四quiremenl 组 incrcasing 10 deieJop the high-precisio lJ per[orman 四 of industrial robot. Precision has become a key faclor for applicatioll of illdustrial robot. Furthermore ，the off-!ine programming will become the main lec!Juo]ogy for robol programming inslelld of the on-Hne teaching progralll Dling，anJ the kincmatic precision is 由e Illain e1ement to the o耳 lìne progranuning. 30 il is veIy impor1I1Llt and sìgnaJily 旬州以dy rohol clIlibratioll. ln this 阴阳 w，由the imb晒 ing of the research key pr叫ecl of the National Natural Science Fund of China(No. ，a 晒。f calìbration syslem 、相，.倒也ucd to j阳吁prove the location and movement pre时sion of arc 、.v!eding robot. 01\ tbe basis of analysis of the kinematic model ，theory of IIctUal geomelric pararn 创ern il; hll:ubrated. 10 eliminate 也e de!lω15 of the conve曲。 I Denavit.Harlellù 臼以DH) modeJ ，a lll时ified Denavit-Hartenber g(MDH) model wh?ch ha 5 pat黯n，肘5 is adopted as tbe kinematic model of ω001 geomemc parameter. identification. Wi\h the differential transformation meth叫h， kinematic error model Ill\d the compJele fonnulation 10 identizy robot gωmet [J parameters arc creat国 The slmulatíonωed MntLab pr刷刷1m且也e theory is suitable fiωcalibral?ng fobot 段阳也甜 c parameter. !t is necessnry 10 measU阳出e end li球 p 。但ill tbe ca!ibratioll 血四Y wd calibral?on process. Combined with the analysls of sevend m邸asuremenl devic鹤， comp旧ler 3D vision measurement system has b岖的I used in 山但tem，To use úus ?yslclU， hnage 严ocessm也 is the firsl step and lmllge filtering，Sobel 创Jge-findmg ，binary imaging，confirming the ma揭 center were ordetly used. ln this Fl!pl:r the camera mod e! witb.臼le IeJm radial d胞ωrtion 协商 introduced in detail and the prujectiOll mathel\l3tic model was a1so establíshed under Ihe ccmditioll of the radia\ alignment ∞nstraint(RAC) 10 calibrate came皿 And the 缸curalc c mcra p阳司