基于工业机器人的未知曲面测量算法研究

发布时间：2018-01-12 20:24

本文关键词：基于工业机器人的未知曲面测量算法研究　出处：《科学技术与工程》2017年01期 　论文类型：期刊论文

【摘要】：在装甲装备维修保养作业中,为实现对车辆底盘部分零部件的自动装卸载,首先应解决CAD模型未知的零部件自动扫描测量和模数重建的问题。提出基于工业机器人的非接触自适应测量曲面重建方法。在测量过程中,将激光测距传感器安装于工业机器人法兰并转换坐标,根据被测零部件上的已测点,由提出的曲线圆弧预测自适应算法,得到下一个预测点矢量及测头轨迹点矢量,拟合成B样条曲线,规划合理的测量路径,进而指导工业机器人自动采集被测零部件上的真实三维点。通过仿真和试验结果表明,该方法能够根据此类零部件曲面特征获取采样点,减小了由测量入射角的存在和算法本身缺陷而导致的精度损失,有效地提高了CAD模型未知曲面数字化采样的精度,为模数重建提供了良好的点云数据。
[Abstract]:In the maintenance and maintenance of armored equipment , in order to realize the automatic loading and unloading of parts and parts of the chassis parts of the vehicle , the problem of automatic scanning measurement and modular reconstruction of parts and components unknown to the CAD model should be solved . In the measurement process , the laser distance measuring sensor is installed on the flange of the industrial robot and converted into coordinates . According to the measured points on the part to be measured , the proposed curve arc prediction adaptive algorithm is used to guide the industrial robot to automatically acquire the real three - dimensional points on the components under test . The simulation and experimental results show that the method can obtain the precision loss caused by the existence of the measurement angle of incidence and the defect of the algorithm itself , effectively improve the accuracy of the digital sampling of the unknown curved surface of the CAD model , and provide good point cloud data for the modular reconstruction .

【作者单位】：装甲兵工程学院机械工程系;66336部队;
【基金】：军队科研项目(2013BZ162)资助
【分类号】：TP242.2
【正文快照】： 引用格式:王飞,晁智强,张传清,等.基于工业机器人的未知曲面测量算法研究[J].科学技术与工程,2017,17(1):237—243Wang Fei,Chao Zhiqiang,Zhang Chuanqing,et al.Researchon measurement algorithm for unknown free-form surface basedon industrial robot[J].Science Techn

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