Gait kinematics parameter identification of industrial robot guided by laser vision
Industrial robots are widely used in many fields,and offline programming has become an important de-velopment direction.Due to the high requirement of the absolute positioning accuracy of the robot itself for off-line programming,in order to improve the absolute positioning accuracy,a gait kinematics parameter identification method of industrial robot guided by laser vision is designed.Based on the linear structure laser measurement technology,a la-ser vision sensor composed of industrial intelligent camera,photosensitive element,filter and line laser is designed.The sensor is used to measure the industrial robot to obtain its three-dimensional information.The laser vision sensor is guided by laser vision through two steps of rough guidance and fine guidance to improve efficiency and reduce aiming error.The identification model of gait kinematics parameter error of industrial robot is solved iteratively by the least square method to obtain the accurate solution of the equations,thus completing the identification of gait kinematics pa-rameters.The test results show that the gait kinematics parameter identification error of this method is less than 0.02 mm,the solution can be completed within 30 iterations.
NETL
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