视觉引导的装配机器人平面定位补偿方法

发布时间：2018-07-23 13:01

【摘要】：为了提高选择顺应性装配机器手臂(SCARA)机器人平面定位的精度,采用网格模型结合最小距离误差逼近的方法,首先构建SCARA机器人平面定位的简化模型,概述网格模型构建原理,然后通过视觉采集机器人末端第1次到达的实际点与期望点相对位置关系,构建可变参量的起始网格模型,再采用最小距离误差逼近,求解下一步构建可变参量网格模型起始点,最后由期望点在网格模型中位置分布情况决定模型粒度点的收敛更新方向。结果表明,视觉引导的定位补偿策略弥补了因模型不精准而造成的平面定位精度不高的现象;空间插值补偿法定位精度为1mm~3mm,平面定位补偿精度较之有较大提高。该方法调节的参量单一、机器末端移动次数明确、工业应用性强。
[Abstract]:In order to improve the accuracy of planar positioning of (SCARA) robot with adaptive assembly arm, a simplified plane positioning model of SCARA robot is constructed by combining the mesh model with minimum distance error approximation, and the construction principle of the mesh model is summarized. Then the starting mesh model with variable parameters is constructed through the relative position relationship between the first arrival point and the expected point at the end of the robot, and then the minimum distance error approximation is adopted. The starting point of the variable parameter mesh model is constructed next. Finally, the convergence and update direction of the model granularity point is determined by the distribution of the expected point in the mesh model. The results show that the positioning compensation strategy of visual guidance makes up for the phenomenon that the plane positioning accuracy is not high due to the inaccuracy of the model, and the positioning accuracy of the spatial interpolation compensation method is 1 mm / 3 mm, which is much higher than that of the plane positioning compensation method. This method adjusts the single parameter, the machine terminal movement times is clear, the industrial application is strong.
【作者单位】：江南大学轻工过程先进控制教育部重点实验室;无锡信捷电气股份有限公司;
【基金】：江苏省高校优势学科建设工程资助项目(PAPD) 江苏省产学研前瞻性联合研究资助项目(BY2015019-38)
【分类号】：TP242;TP391.41

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