基于MDH模型的工业机器人标定及视觉引导方法研究
发布时间：2018-12-30 17:38
【摘要】：工业机器人被越来越多的应用到制造业,而工业机器人普遍存在着绝对定位精度低的问题。工业机器人长期工作在严苛复杂的环境中,使得其原有的定位精度很难保持。为了改进机器人的绝对定位精度,并且使之适应智能制造等新的生产需求,本文基于MDH模型对工业机器人进行了标定,提高了绝对定位精度。在此基础之上,实现了一套视觉引导系统,为机器人智能制造提供参考。通过对工业机器人本体及其工作特性的分析,利用MDH模型对工业机器人进行建模,识别出工业机器人的连杆和转轴参数,通过机器人运动学正解、逆解、微分矩阵,对机器人运动误差参数进行推导。利用算法编程,对机器人运动误差模型进行了最小二乘法解算,通过解算出的机器人误差参数对机器人进行补偿。设计了一套完整的视觉引导系统,对视觉引导系统的关键技术进行了分析,并建立了机器人与相机之间的手眼关系。通过对计算机、相机和机器人控制器的联合编程,实现了完整的视觉引导功能。最后,在建立的机器人数学模型基础上,对工业机器人标定进行了实验,通过便携式测量臂对机器人本体进行了准确测量。实验结果验证了标定的准确性,机器人绝对定位精度显著提高。通过对比标定前后机器人视觉引导系统的定位精度,验证了机器人标定对提高视觉引导系统运动精度的有效性。
[Abstract]:Industrial robots are more and more used in manufacturing industry, and industrial robots generally have the problem of low absolute positioning accuracy. Industrial robots work in harsh and complex environments for a long time, which makes it difficult to maintain their original positioning accuracy. In order to improve the absolute positioning accuracy of the robot and adapt it to the new production requirements such as intelligent manufacturing, this paper calibrates the industrial robot based on MDH model and improves the absolute positioning accuracy. On this basis, a visual guidance system is implemented, which provides a reference for robot intelligent manufacturing. By analyzing the body of industrial robot and its working characteristics, the industrial robot is modeled by MDH model, and the parameters of connecting rod and shaft of industrial robot are identified. The forward solution, inverse solution and differential matrix of robot kinematics are adopted. The kinematic error parameters of the robot are deduced. The motion error model of the robot is solved by the least square method by programming the algorithm, and the robot is compensated by the calculated error parameters of the robot. A complete visual guidance system is designed, the key technology of the visual guidance system is analyzed, and the hand-eye relationship between the robot and the camera is established. Through the joint programming of computer, camera and robot controller, the complete visual guidance function is realized. Finally, based on the established mathematical model of robot, the calibration of industrial robot is tested, and the robot body is accurately measured by portable measuring arm. The experimental results verify the accuracy of calibration, and the absolute positioning accuracy of robot is improved significantly. By comparing the positioning accuracy of robot visual guidance system before and after calibration, the validity of robot calibration to improve the motion accuracy of visual guidance system is verified.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2395911
[Abstract]:Industrial robots are more and more used in manufacturing industry, and industrial robots generally have the problem of low absolute positioning accuracy. Industrial robots work in harsh and complex environments for a long time, which makes it difficult to maintain their original positioning accuracy. In order to improve the absolute positioning accuracy of the robot and adapt it to the new production requirements such as intelligent manufacturing, this paper calibrates the industrial robot based on MDH model and improves the absolute positioning accuracy. On this basis, a visual guidance system is implemented, which provides a reference for robot intelligent manufacturing. By analyzing the body of industrial robot and its working characteristics, the industrial robot is modeled by MDH model, and the parameters of connecting rod and shaft of industrial robot are identified. The forward solution, inverse solution and differential matrix of robot kinematics are adopted. The kinematic error parameters of the robot are deduced. The motion error model of the robot is solved by the least square method by programming the algorithm, and the robot is compensated by the calculated error parameters of the robot. A complete visual guidance system is designed, the key technology of the visual guidance system is analyzed, and the hand-eye relationship between the robot and the camera is established. Through the joint programming of computer, camera and robot controller, the complete visual guidance function is realized. Finally, based on the established mathematical model of robot, the calibration of industrial robot is tested, and the robot body is accurately measured by portable measuring arm. The experimental results verify the accuracy of calibration, and the absolute positioning accuracy of robot is improved significantly. By comparing the positioning accuracy of robot visual guidance system before and after calibration, the validity of robot calibration to improve the motion accuracy of visual guidance system is verified.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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