【作者】 李定坤；

【导师】 叶声华；

【作者基本信息】 天津大学 ， 测试计量技术及仪器， 2007， 硕士

【摘要】 通用视觉测量机器人是视觉检测技术在工程应用中一个非常有意义的研究领域。该系统主要由工业机器人和视觉传感器组成,它保留了视觉检测技术非接触、测量迅速的特点的同时,还增强了系统的柔性,并极大地拓展了工作空间。在运用机器人视觉检测系统进行检测时,为了保证系统的测量精度,就必须对测量系统的各个环节进行标定,其中最困难的一个环节就是对机器人本体的标定,也就是建立起机器人处于任意姿态时,其关节变量到末端法兰盘坐标系位姿之间的准确映射关系。国外对于机器人标定技术进行的广泛的研究,使机器人精度得到很大的提高,并且已经有相应的通用视觉测量机器人问世,国内开展这方面的研究比较滞后,目前国内市场关于通用视觉测量机器人领域基本被国外垄断,因此开展机器人标定技术的研究具有十分重要的意义。本文将从机器人定位绝对定位精度入手开展机器人标定技术的研究,主要工作内容如下:1.建立了正确的机器人运动学模型,运用微分运动学建立了机器人定位精度误差的关系与机器人连杆误差的关系式。2.分析了距离误差模型,推导出机器人绝对定位精度误差与距离精度之间关系,并建立了误差修正方程并采集数据。3.研究了误差处理方程的数值稳定性,运用整体最小二乘算法对机器人的距离误差进行了标定,通过分析实验结果得出结论。4.总结实验结论和经验,提出了标定过程中需要改进的地方。更多还原

【Abstract】 The general visual measuring robot system based on stereo vision is one of the significant engineering fields of the vision measuring technology applications. The system is mainly composed of an industrial robot and a stereo vision sensor. Besides inheriting the advantages of vision measuring technologies, such as non-touch and quickness, it also extends the working space of the sensor and enhances the flexibleness. When using general robot system to measure workpieces, to ensure the system’s measurement accuracy, every part should be calibrated. The most difficult step is the calibration of the robot, i.e. establishing the correct mapping from the joint variables to the position and rotation of the end-effector when robot is at any posture. Many developed countries have done a lot of research on robot’s calibration. The accuracy of robot has improved greatly, and many corporations have established their own general measuring robot system. The research in this field is at the primary stage in our country, and most robot systems are manufactured by foreign companies.The research, a branch of the robot calibration, mainly focuses on the robot’s absolute accuracy calibration. The main contents are as follows:1. By establishing correct robot’s kinematics model and using robot’s differential kinematics model, I have deduced the relationship between absolute accuracy and link parameters’error.2. I analyzed distance error model, deduced the relationship between distance accuracy and absolute accuracy, established error amendment equations and gathered data.3. After studying the error equations’stability and using total least square method to calibrate the robot, I drew a conclusion by analyzing the experiment results.4. After analyzing the results of the experiment, I pointed out some defects in the process of calibration that needed improving.更多还原