Dual Robot Datum Feature Detection and Position Compensation Technology
To address the issue of uncertain robot processing position due to cumulative errors in manufacturing,clamping and calibration,a method based on template matching for datum feature recognition and dual-robot position compensation is proposed.A benchmark detection module is designed to obtain the reference hole point cloud.The coordinates of the circle's center are determined using point cloud preprocessing,template construction,and two-stage matching.The compensation method of linear local datum and four-point global datum is applied to enable collaborative position compensation of two robots in different wing machining sequences.Verification experiments are conducted to evaluate benchmark detection accuracy and position compensation effect.The results show a benchmark detection accuracy of 0.048 mm and an 82.79%improvement in position accuracy after compensation.
万方数据
维普
