【作者】 孙立宁； 刘彦武； 曲东升； 李长峰；

【Author】 Sun Lining,Liu Yanwu,Qu Dongsheng,Li Changfeng Robotics Institute,Harbin Institute of Technology,Harbin 150080,P.R.China

【机构】 哈尔滨工业大学机器人研究所；

【摘要】 设计并制造了一种精密定位并联机器人,可实现对实验靶的6自由度全方位微米级定位。论述了系统定位工作原理,设计了高集成度的并联机器人控制系统,将所有控制模块集成于控制计算机内。在对该并联机器人位姿控制算法研究的基础上,推导了靶定位数学模型。研究了一种基于视觉的靶定位闭环控制方法,这种方法在坐标系关系不完全确定的情况下,通过对6自由度并联机器人各自由度循环调整实现了对靶的多自由度精密定位。实验表明该机器人系统实现了对实验靶的6自由度自动闭环定位。更多还原

【Abstract】 Designed and manufactured a type of precision parallel robot for positioning,and realized 6 DOF spacial precision target positioning in micro meter scale.Principle of the system is dissertated,and a high integrated and accurate control sys-tem for parallel robot is designed.All the control modules are integrated in the computer.Based on the research of the parallel robot’s positioning control arithmetic,the model of target positioning is deduced.A method based on vision for target posi-tioning closed-loop control is studied.In the method,6 DOF precision target positioning is realized by the loop adjustment of each DOF of the parallel robot on the condition of the relation between coordinate systems is not known completely.Experi-ments proved this robot system realized 6 DOF auto closed-loop target positioning.更多还原