为了实现复合材料舱段内仪器支架的精确定位,基于机器人自动扫描划线系统设计了一套喷码TCP(Tooling Center Point)标定工装.激光跟踪仪在9个不同机器人姿态下完成标定工装点测量采集,通过高斯-牛顿法完成末端喷码TCP位置、方向参数标定以及机器人base和数控转台坐标系齐次变换矩阵标定.同时,为了提高支架轮廓线加工离线编程仿真效率,基于模拟退火算法完成了支架轮廓线和划线路径的自动规划.最后,通过喷码TCP点标定和舱段支架自动划线试验,验证了TCP标定和轨迹规划算法的可行性.试验结果表明,喷码点标定最大误差0.15mm,支架划线位置精度在±0.3mm以内,提高了复合材料舱段仪器支架定位精度和装配效率.
Research on Automatic Scribing TCP Calibration and Path Planning for Composite Cabin
A set of tool center point(TCP)calibration tool was designed to achieve precise positioning of the instrument supports in the composite cabin based on a robotic automatic scanning and scribing system.A laser tracker completed the measurement of the calibration points in nine robot poses,then the Gauss-Newton method was utilized to complete the calibration of the TCP position and orientation parameters and the homogeneous transformational matrix between the robot base frame and the numerical control turntable frame.In order to improve the efficiency of offline programming for bracket contour lines and simulation,based on the simulated annealing(SA),the automatic planning of the bracket contour and scribing path was completed.The feasibility of the calibration method and path planning algorithm was verified through the calibration experiment and automatic scribing in cabin.The experimental results exhibit that the maximum calibration error of spray point is 0.15 mm,and the positioning accuracy of bracket scribing line is within±0.3 mm,which improves positioning accuracy and assembly efficiency of composite cabin instrument support.
composite cabinautomatic scribingtool center point calibrationsimulated annealingpath planning
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