【作者】 郭军；

【导师】 李睿；

【作者基本信息】 北京工业大学 ， 仪器科学与技术， 2020， 硕士

【摘要】 随着智能制造的发展,工业机器人被广泛应用于机械加工、焊接、电子电器、航空航天等领域中,其末端位置的准确性直接影响着制造或测量精度,对机器人末端位置精度的测量非常重要。惯性传感器件具有体积小重量轻的特点,便于在工业现场实现在线检测。因此,本文研究了基于惯性传感器的工业机器人末端位置测量方法。主要工作如下:(1)研究了工业机器人标定算法,建立机器人的MD-H模型并分析机器人几何结构参数和坐标系变换误差模型,采用高斯牛顿法对参数进行辨识求解。通过实验,验证了通过标定算法可提高机器人定位精度。(2)分析了惯性传感器的主要误差来源,建立了标度因数和零偏的误差模型,采用静态6位置法对加速度计进行标定,角速率法对陀螺仪进行标定。对惯性器件以及转接架的安装误差进行补偿。(3)分析惯性测量原理,基于四阶龙格-库塔法对四元数微分方程进行求解,计算工业机器人惯性器件平台坐标系和机器人基座标系之间的转换矩阵,将加速度信息转换到机器人基座标系下,通过双重积分求解位置。进行基于惯性测量机器人末端位置测量的实验,验证了惯性测量方法的可行性。(4)针对国标GB/T 12642-2013《工业机器人性能规范及其试验方法》中,机器人末端位置准确度测量评价时测量点和理论点对应关系、垂直平面选取个数和运行速度影响因素等的问题,设计了基于线性拟合、点到直线和速度位置关系三种方法对直线运动位置精度进行了分析计算。更多还原

【Abstract】 With the development of intelligent manufacturing,industrial robots are widely used in mechanical processing,welding,electronic appliances,aerospace and other fields,and the accuracy of the end position directly affects the manufacturing or measurement accuracy,so the measurement of the accuracy of the robot end position Very important.The inertial sensor device has the characteristics of small size and light weight,which is convenient for online detection at the industrial site.Therefore,this paper studies the end position measurement method of industrial robots based on inertial sensors.main tasks as follows:(1)The industrial robot calibration algorithm is studied,the MD-H model of the robot is established and the robot geometric structure parameters and coordinate system transformation error model are analyzed,and the parameters are identified and solved using the Gauss-Newton method.Through experiments,it is verified that the calibration algorithm can improve the robot positioning accuracy.(2)The main error sources of inertial sensors are analyzed,the error model of scale factor and zero offset is established,the static 6-position method is used to calibrate the accelerometer,and the angular rate method is used to calibrate the gyroscope.Compensate the installation errors of inertial devices and adapters.(3)Analyze the principle of inertial measurement,solve the quaternion differential equation based on the fourth-order Runge-Kutta method,calculate the conversion matrix between the industrial robot inertial device platform coordinate system and the robot base standard system,and convert the acceleration information Go to the robot base standard system and find the position by double integration.Experiments based on the end position measurement of the inertial measurement robot were carried out to verify the feasibility of the inertial measurement method.(4)In the national standard GB/T 12642-2013 "Industrial Robot Performance Specifications and Test Methods",the relationship between the measurement point and the theoretical point,the number of vertical planes selected and the factors affecting the running speed during the measurement and evaluation of the accuracy of the robot end position,Three methods based on linear fitting,point-to-line and velocity-position relationship were designed to analyze and calculate the linear motion position accuracy.更多还原