基于双PSD的工业机器人标定技术研究

发布时间：2018-04-15 06:05

本文选题：绝对定位精度双PSD + 调制　；参考：《长春理工大学》2017年硕士论文

【摘要】：本文基于国际科技合作项目资助的“用于机器人绝对定位精度标定的激光束同时对准双PSD的控制理论研究”(20160414030GH)课题,致力于解决工业机器人标定过程中的位姿测量问题。工业机器人重复定位精度高,但绝对定位精度较低,这极大影响离线编程的应用。相对于传统方法,基于双PSD(Position Sensitive Device)的标定方法能为提高机器人绝对定位精度提供一种更有效的途径。本文以IRB120机器人为研究对象,提出用于机器人绝对定位精度标定的激光束同时对准双PSD的控制方法:首先,结合坐标变换及空间几何建立标定系统运动学模型;其次,使用牛顿-欧拉法建立机器人动力学模型;再次,设计基于模型的自适应控制算法并通过理论推导证明光斑位置误差及系统未知参数估计误差的渐进收敛性,证明了系统稳定性;最后,利用MATLAB/Simulink软件进行仿真实验,验证了控制算法的有效性及系统稳定性,并得出光斑位置误差稳态精度为0.0057mm。另外,为保证准确测量,设计了激光器调制及PSD坐标计算电路,对PSD坐标计算电路输出有用信号进行互相关提取,理论推导和MATLAB仿真验证了其有效性;分别在暗室和亮场下做了对比实验,其光斑位置差异最大仅为0.044mm,实验结果也表明互相关法能够较好地消除背景光的干扰。
[Abstract]:Based on the research on the control theory of simultaneous alignment of double PSD for robot absolute positioning accuracy calibration, supported by the international scientific and technological cooperation project, this paper is devoted to solving the problem of position and pose measurement in the calibration process of industrial robot.The repeated positioning accuracy of industrial robot is high, but the absolute positioning accuracy is low, which greatly affects the application of off-line programming.Compared with the traditional method, the calibration method based on double PSD(Position Sensitive device can provide a more effective way to improve the absolute positioning accuracy of the robot.In this paper, the IRB120 robot is taken as the research object, and the control method of simultaneous alignment of laser beam to double PSD for robot absolute positioning accuracy calibration is put forward: firstly, the kinematics model of calibration system is established combining coordinate transformation and space geometry; secondly, the kinematics model of calibration system is established.The dynamic model of robot is established by Newton-Euler method. Thirdly, adaptive control algorithm based on model is designed and the asymptotic convergence of spot position error and system unknown parameter estimation error is proved by theoretical derivation.Finally, the effectiveness of the control algorithm and the stability of the system are verified by using MATLAB/Simulink software, and the steady-state accuracy of spot position error is 0.0057mm.In addition, in order to ensure accurate measurement, the laser modulation and PSD coordinate calculation circuit are designed, and the useful signal output from the PSD coordinate calculation circuit is extracted by cross-correlation. The theoretical derivation and MATLAB simulation verify the validity of the circuit.The experimental results show that the maximum difference of spot position is only 0.044 mm in the dark chamber and the bright field. The experimental results also show that the cross-correlation method can eliminate the interference of background light.
【学位授予单位】：长春理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2

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