中国机械工程2012，Vol.23Issue(19)：2306-2311,6.DOI:10.3969/j.issn.1004-132X.2012.19.008
面向飞机自动化装配的机器人空间网格精度补偿方法研究
Robot Accuracy Compensation Method of Spatial Grid for Aircraft Automatic Assembly
摘要
Abstract
This paper studied a positioning accuracy compensation method of 6 -DOF KUKA robot. Through the establishment of conversion relationship between the robot and laser tracker coordinate system, the absolute positioning errors were obtained by comparing the actual positioning coordinates measured by laser tracker with the corresponding theoretical coordinates. Firstly, the robot's work space was divided into many three-dimensional grids with a certain step, then for any point within the workspace, its absolute positioning error can be estimated by the absolute positioning errors of eight vertices of the three-dimensional grid which contained it in. Finally, the robot's absolute positioning accuracy was improved by inverse compensation of estimated positioning errors to the theoretical coordinates. The results show that the maximum value of the robot positioning accuracy is as 0. 386mm, and the mean value is as 0. 156mm, which are much more better than the previous values 1-3mm. The robot can satisfy the requirements of aircraft automatic assembly.关键词
工业机器人/飞机装配/精度补偿/空间插值/定位精度/标定Key words
industrial robot/ aircraft assembly/ accuracy compensation/ spatial interpolation/ positioning accuracy/ calibration分类
信息技术与安全科学引用本文复制引用
周炜,廖文和,田威,李东明,刘勇..面向飞机自动化装配的机器人空间网格精度补偿方法研究[J].中国机械工程,2012,23(19):2306-2311,6.基金项目
江苏省科技支撑计划资助项目(BE2011178) （BE2011178）
