【摘要】 检修机器人的使用可以有效保障核方面从业人员的健康安全，但检修机器人受AGV小车和机械臂本身的影响，导致绝对定位误差较大。为了对检修机器人进行定位误差分析与补偿，在检修机器人中，利用激光跟踪仪对AGV小车进行坐标重建，基于定位误差相似性，对检修机器人采用一种反距离加权的空间插值补偿方法。试验对象为自主搭建的检修机器人，通过对3个网格步长进行试验，确定最优网格步长为20 mm。试验结果表明，在空间空格步长为20 mm的情况下，检修机器人的x方向定位误差最大值降低为0.14 mm,y方向定位误差最大值降低为-0.094 mm,z方向定位误差最大值降低为-0.077 m m，对检修机器人的绝对定位精度有92%以上的提高，证明该方法的效果良好。更多还原

【Abstract】 The use of maintenance robots can effectively ensure the health and safety of nuclear industry personnel, but the absolute positioning error of maintenance robots is relatively large due to the influence of AGV cars and robotic arms themselves. To analyze and compensate the positioning error of the maintenance robot, in the maintenance robot, the laser tracker is used to reconstruct the coordinates of the AGV car. Based on the similarity of positioning errors, a spatial interpolation compensation method combining the laser tracker with inverse distance weighting is adopted for the maintenance robot. The experimental object is a self-built maintenance robot. Through experiments on three grid step sizes,the optimal grid step size is determined to be 20 mm. The experimental results show that under the condition of a spatial space step size of 20 mm, the maximum positioning error in the x direction of the maintenance robot is reduced to 0.14 mm,the maximum positioning error in the y direction is reduced to-0.094 mm, and the maximum positioning error in the z direction is reduced to-0.077 mm. The absolute positioning accuracy of maintenance robots is improved by over 92%,proving that this method has a good effect.更多还原