【作者】 代军；

【导师】 赵俊伟；

【作者基本信息】 河南理工大学 ， 机械制造及其自动化， 2009， 硕士

【摘要】 精度是衡量机器人实用性的重要参数。随着机器人技术的快速发展,工业生产对机器人的精度要求也日益提高。为了提高机器人的工作质量,使其满足高精度的工作要求,就要不断深入研究工业机器人位置校正方法。本文提出了一种新的工业机器人位置校正方法,即采用测量机器人与工业机器人末端对接,工业机器人带动测量机器人在工业机器人工作空间网格点上测量末端位置,与名义位置相比较,得到工业机器人工作空间误差网格,将其转化到名义坐标空间网格,建立误差数据库。工业机器人工作时,调用空间误差数据库,择优选择空间插值点进行空间误差插值,对名义位置进行补偿。再用测量机器人对补偿后的工业机器人重新测量,对误差补偿性能进行评价。对FANUC_M6iB机器人运动学分析,介绍了两种机器人工作空间的求解方法,求解出了机器人的工作空间。对机器人工作空间采用了映射法原理进行网格划分,进而进行工作空间的离散化,建立空间误差网格模型。对于网格节点外的位置校正采用双线性插补方法插补。阐述了FARO测量手臂的工作原理,建立了测量臂的数学模型,为网格节点测量结果的数值变换和误差求解奠定了基础。最后利用Matlab的较强的数学计算功能和Access足量的数据存储功能,与工业机器人控制软件相结合,采用Visual C++编写机器人位置校正软件。更多还原

【Abstract】 Accuracy is a very important parameter to evaluate the practicality of the robot. With the rapid development of robotics, industrial production requires that the quality of robot being improved day by day. In order to improve the work quality of robot, to make the requirement of robot high precision, it is necessary to develop in-depth study of industrial robot calibration method. The dissertation put forward an industrial robot position calibration method. By a hinge linking up the end of industrial robot and measurement robot, the measurement robot is driven by the industrial robot to measure the end position at the space grid of industrial robots automatically. Compared with the nominal position, we can get the space error grid of industrial robots and transform the space error into the nominal coordinate’s space error grid and establish the error database. When industrial robot is working, the space error database is invoked and the space interpolation point is selected for space error interpolation to compensate the nominal position. The industrial robot compensated is re-surveyed by measurement robot and evaluate the performance of the error compensation. The dissertation elaborated the FANUC_M6iB robot kinematics analysis, introduces two kinds of robot work space solution method and solved the robot work space. The robot work space was meshed based on mapping method principle, and then discrete working space. Construct the model of space error grid. With the location outside the grid node calibrated using bilinear interpolation method. The dissertation introduced the working principle of FARO arm, set up the mathematical model of measuring arm, and laid foundation for numerical transform and error solving of the grid node measurements. At last, the dissertation adopts Matlab‘s strong math calculation functions and Access‘s adequate data storage functions, combined with industrial robot control software, adopts Visual C++ to compile the robot position calibration procedures.更多还原