【摘要】 提出一个离线编程控制的机器人运行轨迹补偿方法,以解决通用机器人无法适应变形型钢的切割加工 难题。一个激光传感器安装在机器人臂端,在机器人执行划线、切割加工前,通过激光位移传感器对工件的形 状和位置进行检测,测量数据经数据处理转化为型钢采样点三维坐标,构建型钢实际形状的简化三维模型,并 按补偿规则计算加工图形要素补偿量,在线修正机器人运行轨迹坐标。更多还原

【Abstract】 Robot is one of the key tools to introduce CIMS(Computer Integreted Manufacturing System) to shipbuilding industry, but common robot can’t carry out processing of the deformed profile steel that is mainly utilized in shipbuilding industry, just because it’s lower dimension accuracy and larger deformation degree. According to the status of profiles used in the domestic shipyard, a compensation method of robot traveling track controlled by the off-line programmed computer has been presented to solve this problem. Before the robot begins marking and cutting task, the sitting position and the actual shape information of the profile, including the dimensions of the longitudinal and the altitudinal direction, will be detected by a laser sensor which is fixed on the end of the robot’s arm. Then the measured data of the profile are transmitted into the industry controlled computer automatically to be processed. Based on the measured data of the profile deformation magnitude, the coordinate error of processing figure resulted from bending deformation can be compensated to a great extent by a compensation arithmetic. After the data process and compensation calculation have been conducted, the compensated results of the deformed profile will be transferred back to the robotic controller. Then the robot is controlled to execute marking and cutting tasks according to the coordinate value compensated. Therefore the deformed profile steel could be processed correctly, and the processing accuracy is equal to the accuracy on which there is no deformation. Due to the applying of technologies, such as, off-line programming, compensation arithmetic and on-line modifying of the robotic traveling track etc. the profile steel could be placed freely on the workbench without fixture. Even if the profile has been destroyed, the processing accuracy is kept in a allowable range: length error≤1. 5mm, interval error between holes≤1.0mm. The processing accuracy fully meets the requirements of modern shipbuilding industry.更多还原