光学精密工程2025，Vol.33Issue(22)：3502-3524,23.DOI:10.37188/OPE.20253322.3502
可重构三维测量系统在工业机器人定位误差补偿中的应用研究
Application of reconfigurable 3D measurement system in the compensation of industrial robot localization error
摘要
Abstract
Aiming at the insufficient absolute positioning accuracy of industrial robots and the high cost,poor portability,and difficulty in adapting to multi-scene requirements of existing high-precision measure-ment systems for error acquisition,an error compensation method based on a reconfigurable three-dimen-sional measurement system was proposed to improve the robot positioning accuracy by integrating geomet-ric and non-geometric error factors.First,the C-TrackTM|Elite high-precision measurement system and the lightweight binocular vision system were integrated to construct a bimodal reconfigurable measurement framework,and the high-precision coordinate solving was realized by the ellipse fitting and spatial position matching algorithms of the feature points and combining with the spherical fitting of the probes;then,the robot's position and distance error models were established separately,and the particle swarm algorithm was introduced to fit the Kriging experimental variability function automatically,and the error prediction equations were constructed to realize the robot's positional accuracy in the workspace;finally,the compen-sation was implemented and verified by comparison.The experiments show that:the position error com-pensation based on the high-precision system reduces the mean value of absolute error from 1.048 9 mm to 0.178 6 mm,and the accuracy is improved by 82.97%;the mean value of error after compensation of the lightweight system is reduced from 1.154 7 mm to 0.211 9 mm,and the accuracy is improved by 81.65%.It verifies the optimal balance between precision and cost of reconfigurable measurement system-high precision system is suitable for aerospace and other high value-added fields,lightweight system meets the precision needs of small and medium-sized enterprises,and provides a new technical path for multi-scenario precision compensation of industrial robots.关键词
可重构/轻量化/工业机器人/克里金/误差预测补偿Key words
reconfigurable/lightweight/industrial robot/Kriging/error prediction compensation分类
矿业与冶金引用本文复制引用
SHI Yanqiong,MIN Xiang,DAI Eryu,WANG Ping,LU Rongsheng..可重构三维测量系统在工业机器人定位误差补偿中的应用研究[J].光学精密工程,2025,33(22):3502-3524,23.基金项目
国家重点研发计划(No.2023YFF0715502) （No.2023YFF0715502）
安徽省科技重大专项(No.202203a05020022) （No.202203a05020022）
