發(fā)布時(shí)間：2018-12-30 17:38

【摘要】：工業(yè)機(jī)器人被越來越多的應(yīng)用到制造業(yè),而工業(yè)機(jī)器人普遍存在著絕對定位精度低的問題。工業(yè)機(jī)器人長期工作在嚴(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模型對工業(yè)機(jī)器人進(jìn)行了標(biāo)定,提高了絕對定位精度。在此基礎(chǔ)之上,實(shí)現(xiàn)了一套視覺引導(dǎo)系統(tǒng),為機(jī)器人智能制造提供參考。通過對工業(yè)機(jī)器人本體及其工作特性的分析,利用MDH模型對工業(yè)機(jī)器人進(jìn)行建模,識別出工業(yè)機(jī)器人的連桿和轉(zhuǎn)軸參數(shù),通過機(jī)器人運(yùn)動學(xué)正解、逆解、微分矩陣,對機(jī)器人運(yùn)動誤差參數(shù)進(jìn)行推導(dǎo)。利用算法編程,對機(jī)器人運(yùn)動誤差模型進(jìn)行了最小二乘法解算,通過解算出的機(jī)器人誤差參數(shù)對機(jī)器人進(jìn)行補(bǔ)償。設(shè)計(jì)了一套完整的視覺引導(dǎo)系統(tǒng),對視覺引導(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。通過對計(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,對工業(yè)機(jī)器人標(biāo)定進(jìn)行了實(shí)驗(yàn),通過便攜式測量臂對機(jī)器人本體進(jìn)行了準(zhǔn)確測量。實(shí)驗(yàn)結(jié)果驗(yàn)證了標(biāo)定的準(zhǔn)確性,機(jī)器人絕對定位精度顯著提高。通過對比標(biāo)定前后機(jī)器人視覺引導(dǎo)系統(tǒng)的定位精度,驗(yàn)證了機(jī)器人標(biāo)定對提高視覺引導(dǎo)系統(tǒng)運(yùn)動精度的有效性。
[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)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 李倩文;晏敬東;;全球工業(yè)機(jī)器人產(chǎn)業(yè)發(fā)展現(xiàn)狀與趨勢分析[J];科技創(chuàng)業(yè)月刊;2016年05期

2 康存鋒;王紅偉;張鵬飛;李舒進(jìn);陳樹君;;焊接機(jī)器人工具坐標(biāo)系標(biāo)定的研究與實(shí)現(xiàn)[J];北京工業(yè)大學(xué)學(xué)報(bào);2016年01期

3 齊飛;平雪良;劉潔;蔣毅;;工業(yè)機(jī)器人參數(shù)辨識及誤差補(bǔ)償方法研究[J];機(jī)械傳動;2015年09期

4 趙歡;劉曉春;;基于最小二乘法的變位機(jī)與焊接機(jī)器人的位置關(guān)系標(biāo)定[J];電焊機(jī);2015年01期

5 計(jì)時(shí)鳴;黃希歡;;工業(yè)機(jī)器人技術(shù)的發(fā)展與應(yīng)用綜述[J];機(jī)電工程;2015年01期

6 楊守瑞;尹仕斌;任永杰;邾繼貴;葉聲華;;機(jī)器人柔性視覺測量系統(tǒng)標(biāo)定方法的改進(jìn)[J];光學(xué)精密工程;2014年12期

7 翟敬梅;董鵬飛;張鐵;;基于視覺引導(dǎo)的工業(yè)機(jī)器人定位抓取系統(tǒng)設(shè)計(jì)[J];機(jī)械設(shè)計(jì)與研究;2014年05期

8 夏群峰;彭勇剛;;基于視覺的機(jī)器人抓取系統(tǒng)應(yīng)用研究綜述[J];機(jī)電工程;2014年06期

9 陳嵐峰;楊靜瑜;崔崧;潘慶超;李柳;;基于MATLAB的最小二乘曲線擬合仿真研究[J];沈陽師范大學(xué)學(xué)報(bào)(自然科學(xué)版);2014年01期

10 楊麗紅;秦緒祥;蔡錦達(dá);孫福佳;;工業(yè)機(jī)器人定位精度標(biāo)定技術(shù)的研究[J];控制工程;2013年04期

，

本文編號：2395911