工业坐标测量机器人定位误差补偿技术研究.pdf

工业坐标测量机器人定位误差补偿技术研究

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王一刘常杰任永杰叶声华

(天津大学精密测试技术及仪器国家重点实验室天津

300072)

摘要：由通用工业机器人和视觉传感器组成的柔性坐标测量系统是视觉检测技术在工业在线测量领域的重要应用。工业机器

人的机械结构和控制过程复杂，因此其定位误差成为影响系统测量精度的最主要因素，但可以通过修正连杆参数的方式加以

补偿。以MD-H运动学模型为基础，建立机器人工具中心点(Toolcenterpoint,

TCP)的基于相对定位精度的定位误差补偿模

型，避免坐标在不同坐标系转换过程中产生精度损失。对与机器人测量姿态有关的柔度误差进行针对性补偿，通过建立柔性

关节的弹性扭簧模型，将柔度误差分解为外加负载柔度误差和机械臂自重柔度误差分别进行补偿。标定过程中使用激光跟踪

仪作为外部高精度测量设备，只需在单点测量模式下就能实现对TCP的三维坐标采集，大大简化数据采集过程。经过补偿后，

标定点处的均方根误差由之前的1.2302mm降至0.4288mm，验证点处的则由0.7236mm降至0.5054mm。

关键词：工业机器人定位误差相对定位精度柔度误差激光跟踪仪

中图分类号：TP202

Research

on

CompensationforPositioning

Error

of

Industrial

Coordinate

Measurement

Robot

WANG

Yi

LIU

Changjie

REN

Yongjie

YE

Shenghua

(State

Key

Laboratory

of

Precision

Measuring

Technology

Instrument,

Tianjin

University,

Tianjin

300072)

Abstract：The

flexible

coordinate

measurement

system

consists

of

universal

industrial

robot

and

visual

sensor

is

a

very

important

application

of

visual

inspection

technology

in

the

area

of

industrial

online

measurement.

Thepositioningerror

of

the

industrial

robot’s

is

the

most

major

factor

which

affects

system

measurement

accuracy

due

to

robot’s

complex

mechanical

structure

and

control

process,

but

it

can

be

compensated

by

modifying

the

link

parameters.

The

positioning

error

model

of

Tool

center

point(TCP)

on

the

basis

of

relative

poisoning

accuracy

is

derived

by

means

of

Modified

Denavit­Hartenberg

kinematics

convention,

which

can

avoid

accuracy

loss

in

the

transformation

among

different

coordinate

frames.

Pertinence

study

on

compliance

errors

related

to

robot’s

postures

is

carried

out.

By

establishing

the

elastic

torsion

spring

model

of

flexible

joints,

compliance

errors

are

divided

into

two

parts,

the

compliance

error

from

external

load

and

that

from

manipulator

itself

gravity,

to

be

compensated

separately.

A

laser

tracker

i