發(fā)布時(shí)間：2018-12-30 17:38

【摘要】：工業(yè)機(jī)器人被越來(lái)越多的應(yīng)用到制造業(yè),而工業(yè)機(jī)器人普遍存在著絕對(duì)定位精度低的問(wèn)題。工業(yè)機(jī)器人長(zhǎng)期工作在嚴(yán)苛復(fù)雜的環(huán)境中,使得其原有的定位精度很難保持。為了改進(jìn)機(jī)器人的絕對(duì)定位精度,并且使之適應(yīng)智能制造等新的生產(chǎn)需求,本文基于MDH模型對(duì)工業(yè)機(jī)器人進(jìn)行了標(biāo)定,提高了絕對(duì)定位精度。在此基礎(chǔ)之上,實(shí)現(xiàn)了一套視覺(jué)引導(dǎo)系統(tǒng),為機(jī)器人智能制造提供參考。通過(guò)對(duì)工業(yè)機(jī)器人本體及其工作特性的分析,利用MDH模型對(duì)工業(yè)機(jī)器人進(jìn)行建模,識(shí)別出工業(yè)機(jī)器人的連桿和轉(zhuǎn)軸參數(shù),通過(guò)機(jī)器人運(yùn)動(dòng)學(xué)正解、逆解、微分矩陣,對(duì)機(jī)器人運(yùn)動(dòng)誤差參數(shù)進(jìn)行推導(dǎo)。利用算法編程,對(duì)機(jī)器人運(yùn)動(dòng)誤差模型進(jìn)行了最小二乘法解算,通過(guò)解算出的機(jī)器人誤差參數(shù)對(duì)機(jī)器人進(jìn)行補(bǔ)償。設(shè)計(jì)了一套完整的視覺(jué)引導(dǎo)系統(tǒng),對(duì)視覺(jué)引導(dǎo)系統(tǒng)的關(guān)鍵技術(shù)進(jìn)行了分析,并建立了機(jī)器人與相機(jī)之間的手眼關(guān)系。通過(guò)對(duì)計(jì)算機(jī)、相機(jī)和機(jī)器人控制器的聯(lián)合編程,實(shí)現(xiàn)了完整的視覺(jué)引導(dǎo)功能。最后,在建立的機(jī)器人數(shù)學(xué)模型基礎(chǔ)上,對(duì)工業(yè)機(jī)器人標(biāo)定進(jìn)行了實(shí)驗(yàn),通過(guò)便攜式測(cè)量臂對(duì)機(jī)器人本體進(jìn)行了準(zhǔn)確測(cè)量。實(shí)驗(yàn)結(jié)果驗(yàn)證了標(biāo)定的準(zhǔn)確性,機(jī)器人絕對(duì)定位精度顯著提高。通過(guò)對(duì)比標(biāo)定前后機(jī)器人視覺(jué)引導(dǎo)系統(tǒng)的定位精度,驗(yàn)證了機(jī)器人標(biāo)定對(duì)提高視覺(jué)引導(dǎo)系統(tǒng)運(yùn)動(dòng)精度的有效性。
[Abstract]:Industrial robots are more and more used in manufacturing industry, and industrial robots generally have the problem of low absolute positioning accuracy. Industrial robots work in harsh and complex environments for a long time, which makes it difficult to maintain their original positioning accuracy. In order to improve the absolute positioning accuracy of the robot and adapt it to the new production requirements such as intelligent manufacturing, this paper calibrates the industrial robot based on MDH model and improves the absolute positioning accuracy. On this basis, a visual guidance system is implemented, which provides a reference for robot intelligent manufacturing. By analyzing the body of industrial robot and its working characteristics, the industrial robot is modeled by MDH model, and the parameters of connecting rod and shaft of industrial robot are identified. The forward solution, inverse solution and differential matrix of robot kinematics are adopted. The kinematic error parameters of the robot are deduced. The motion error model of the robot is solved by the least square method by programming the algorithm, and the robot is compensated by the calculated error parameters of the robot. A complete visual guidance system is designed, the key technology of the visual guidance system is analyzed, and the hand-eye relationship between the robot and the camera is established. Through the joint programming of computer, camera and robot controller, the complete visual guidance function is realized. Finally, based on the established mathematical model of robot, the calibration of industrial robot is tested, and the robot body is accurately measured by portable measuring arm. The experimental results verify the accuracy of calibration, and the absolute positioning accuracy of robot is improved significantly. By comparing the positioning accuracy of robot visual guidance system before and after calibration, the validity of robot calibration to improve the motion accuracy of visual guidance system is verified.
【學(xué)位授予單位】：天津工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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