机器人参数及标定试验研究
Research on Robot Parameters and Calibration Experiments
屈文 1李东伟 1夏毅1
作者信息
- 1. 中国工程物理研究院材料研究所,四川绵阳 621700
- 折叠
摘要
随着智能制造进程的推进,工业机器人因其活动范围大、成本较低和适用于柔性生产等优点开始被应用于加工制造领域中,执行如磨抛、钻孔等任务.在轮毂磨抛加工中,一般需要离线编程技术生成复杂的轮毂磨抛加工路径,这需要机器人拥有较高的绝对定位精度,而现有机器人的绝对定位精度达不到使用需求.为了提高机器人的绝对定位精度,机器人标定是一种常用的手段.文章阐述了标定误差模型的建立,并进行了机器人运动学参数标定试验,验证了标定误差模型的准确性.
Abstract
With the advancement of intelligent manufacturing processes,industrial robots have begun to be applied in the field of processing and manufacturing due to their advantages of large activity range,low cost,and suitability for flexible production,performing tasks such as grinding and polishing,drilling,etc.In wheel hub grinding and polishing processing,offline programming technology is generally required to generate complex wheel hub grinding and polishing processing paths,which requires robots to have high absolute positioning accuracy.However,the absolute positioning accuracy of existing robots cannot meet the usage requirements.Robot calibration is a commonly used method to improve the absolute positioning accuracy of robots.The article elaborates on the establishment of a calibration error model and conducts robot kinematic parameter calibration experiments to verify the accuracy of the calibration error model.
关键词
机器人/运动学/标定技术Key words
robots/kinematics/calibration techniques引用本文复制引用
出版年
2024
NETL
NSTL
万方数据