【摘要】 针对喷涂机器人示教效率低、使用惯性测量元件(IMU)获取的示教数据精度不足等问题,提出了融合IMU采样数据与激光线阵定位数据的示教轨迹定位方法。首先,使用支持向量机(SVM)进行运动状态识别,并计算出喷枪在机器人坐标系的运动轨迹;其次,使用激光线阵定位数据进行轨迹误差的分段补偿,实现轨迹定位。在算法推导的基础上进行了实验,数据表明该算法采样示教精度能达到3 mm,能够解决IMU累积误差的问题、满足机器人喷涂示教的需要。更多还原

【Abstract】 Aiming at the problems of low teaching efficiency of spraying robot and insufficient accuracy of teaching data acquired by inertial measurement unit(IMU),a teaching trajectory positioning method combining IMU sampling data and laser line array positioning data is proposed.First, the algorithm uses support vector machine(SVM) to recognize the motion state, and calculates the motion trajectory of the spray gun in the robot coordinate system.Then the laser line array positioning data is used for the segmental compensation of trajectory error to achieve the trajectory positioning.Experiments were carried out on the basis of algorithm derivation.The data showed that the sampling and teaching accuracy of the algorithm can reach 3 mm, which can solve the problem of IMU cumulative error and meet the needs of robot spray teaching.更多还原