基于数字孪生的机器人工件感知与虚实映射标定方法研究
Study on Robot Workpiece Perception and Virtual Real Mapping Calibration Method Based on Digital Twin
徐洋洋 1孙文磊 1刘国良 1谢文显1
作者信息
- 1. 新疆大学 机械工程学院,新疆 乌鲁木齐 830046
- 折叠
摘要
机器人采用离线编程的方法,仿真环境与真实环境空间上相互独立、时间上相互隔离,被加工工件逆向重构过程繁琐且存在形状、定位误差.为此,提出了以机器人操作系统(ROS)为基础构建数字孪生机器人的建模方法,实现了工件从真实环境到虚拟环境的感知重构.研究了数字孪生虚实交互映射的特点,提出了基于数字孪生原理的虚实映射标定方法,修正了真实物理环境与虚拟仿真环境间的工件误差.最后,针对抓取机器人数字孪生系统,进行了抓取工件的案例测试,验证了该方法的有效性.
Abstract
The robot adopts the method of off-line programming.The simulation environment and the real environment are independent in space and isolated in time.The reverse reconstruction process of the machined workpiece is cumbersome,and there are shape and positioning errors.Therefore,the modeling method of digital twin robot based on robot operating system(ROS)was proposed,the perceptual reconstruction of workpiece from real environment to virtual environment was realized.The characteristics of virtual real interactive mapping of digital twin were studied,a virtual real mapping calibration method based on digital twin principle was proposed,and the workpiece error between real physical environment and virtual simulation environment was corrected.Finally,for the digital twin system of grasping robot,a case test of grabbing workpiece was carried out to verify the effectiveness of the method.
关键词
数字孪生/工业机器人/工件感知/虚实标定Key words
digital twin/industrial robot/workpiece perception/virtual real calibration引用本文复制引用
基金项目
新疆维吾尔自治区重点研发项目(2020B02014)
新疆维吾尔自治区重点实验室开放基金项目(2020520002)
出版年
2024
NETL
NSTL
万方数据