机器人2011，Vol.33Issue(3)：299-302,331,5.DOI:10.3724/SP.J.1218.2011.00299
工业机器人视觉测量系统的在线校准技术
Online Calibration of Visual Measurement System Based on Industrial Robot
摘要
Abstract
Visual measurement system based on industrial robot is applied to the online and real-time monitoring and inspection of key dimensions in the process of automobile body assembly and subassembly.Temperature variations of the manipulator and environment lead to expansion or deformation of links and joints, therefore cause the temperature drift error.An online calibration approach is proposed.Firstly, positioning error model of the end-effector is established by adopting D-H forward kinematics and differential kinematics.Secondly, combining with thermal experiments on axis rotation, link parameters that change significantly because of robot's temperature variation are determined by using multivariate linear regression method.At last, thermal error is compensated by using a reference sphere.Practical measurement results show that the measurement errors caused by temperature variation can be reduced to about 0.05 mm and the approach can meet the requirement of the production tact.关键词
工业机器人/视觉测量/温度漂移/多元线性回归Key words
industrial robot/ visual measurement/ thermal error/ multivariate linear regression分类
信息技术与安全科学引用本文复制引用
王一,刘常杰,杨学友,叶声华..工业机器人视觉测量系统的在线校准技术[J].机器人,2011,33(3):299-302,331,5.基金项目
国家863计划资助项目(2008AA042407):国家自然科学基金资助项目(50805105). （2008AA042407）
