【摘要】：現(xiàn)代制造技術(shù)中將工業(yè)機(jī)器人作為智能制造系統(tǒng)的主要構(gòu)成部分。隨著德國(guó)“工業(yè)4.0”高端制造技術(shù)計(jì)劃和《中國(guó)制造2025》國(guó)家戰(zhàn)略計(jì)劃的提出,基于工業(yè)機(jī)器人的數(shù)字化柔性加工系統(tǒng)在工業(yè)領(lǐng)域的重要性迅速上升。然而,工業(yè)機(jī)器人現(xiàn)有的絕對(duì)定位精度還不足以滿足精密加工領(lǐng)域的需求。目前通過(guò)修正機(jī)器人的運(yùn)動(dòng)學(xué)參數(shù)誤差雖然在一定程度上可以提高機(jī)器人定位精度,但機(jī)器人的運(yùn)動(dòng)學(xué)模型并不能完整準(zhǔn)確地描述機(jī)器人實(shí)際位姿,并且離線標(biāo)定無(wú)法反映機(jī)器人受到的環(huán)境、負(fù)載等干擾。因此,本文研究了一種通過(guò)外部測(cè)控系統(tǒng)實(shí)時(shí)測(cè)量機(jī)器人終端位姿,優(yōu)化補(bǔ)償機(jī)器人定位精度的方法。通過(guò)外部測(cè)控系統(tǒng)的在線測(cè)量和補(bǔ)償,得到機(jī)器人終端的實(shí)時(shí)位姿信息,不僅能簡(jiǎn)化機(jī)器人復(fù)雜的參數(shù)建模過(guò)程,適應(yīng)實(shí)際情況變化,且能夠反映機(jī)器人的綜合誤差。本文利用近景攝影系統(tǒng)、雙軸傾角測(cè)量?jī)x和PC機(jī)組合為一套六自由度位姿在線測(cè)量系統(tǒng),它能夠通過(guò)視覺(jué)、電學(xué)、慣性測(cè)量相結(jié)合的方式實(shí)時(shí)獲取機(jī)器人末端執(zhí)行器的六自由度位姿信息。本文利用離線誤差標(biāo)定技術(shù)和終端測(cè)量技術(shù)相結(jié)合,離線與在線方式相結(jié)合,發(fā)展了一種機(jī)器人離線參數(shù)標(biāo)定方法。研究了基于卡爾曼濾波和矩陣加權(quán)線性最小方差最優(yōu)融合準(zhǔn)則的多傳感器數(shù)據(jù)融合方法,實(shí)現(xiàn)了機(jī)器人在線位姿測(cè)量系統(tǒng)的超前動(dòng)態(tài)預(yù)估和冗余數(shù)據(jù)融合。同時(shí),發(fā)展了一種工業(yè)機(jī)器人編碼器解算值與雙軸慣性傾角儀相結(jié)合,測(cè)量三維姿態(tài)角的方法。本文研究并分析了在線位姿測(cè)量系統(tǒng)的最佳工作范圍和最佳工作條件。提出一種基于點(diǎn)云特征線重合的坐標(biāo)系轉(zhuǎn)換方法,能夠準(zhǔn)確快速地統(tǒng)一在線位姿測(cè)量系統(tǒng)與工業(yè)機(jī)器人的坐標(biāo)系�；贙UKA KR 5 arc工業(yè)機(jī)器人編寫了一套實(shí)時(shí)測(cè)量控制軟件算法,在實(shí)驗(yàn)室環(huán)境下,實(shí)現(xiàn)了在線位姿測(cè)量系統(tǒng)與工業(yè)機(jī)器人的實(shí)時(shí)通信和反饋補(bǔ)償。
[Abstract]:Industrial robot is regarded as the main component of intelligent manufacturing system in modern manufacturing technology. With the development of "Industry 4.0" High-end Manufacturing Technology Plan and "made in China 2025" National Strategic Plan in Germany, the importance of digital flexible machining system based on industrial robot is rising rapidly in the field of industry. However, the absolute positioning accuracy of industrial robots is not enough to meet the needs of precision machining. At present, although the robot positioning accuracy can be improved to some extent by modifying the kinematics parameter error of the robot, the kinematics model of the robot can not describe the actual position and pose of the robot completely and accurately. And off-line calibration can not reflect the robot environment, load and other interference. Therefore, this paper studies a real-time measurement and control system based on external measurement and control system to measure the position of robot terminal and optimize the compensation of robot positioning accuracy. Through the on-line measurement and compensation of the external measurement and control system, the real-time position and pose information of the robot terminal can be obtained, which not only simplifies the complex modeling process of the robot, adapts to the change of the actual situation, but also can reflect the comprehensive error of the robot. In this paper, a six-degree-of-freedom position and pose on-line measurement system is developed by using a close range photography system, a biaxial inclination measuring instrument and a PC machine. The six-degree-of-freedom pose information of the robot end-actuator is obtained in real-time by combining inertial measurement. In this paper, an off-line parameter calibration method for robot is developed by combining off-line error calibration technology with terminal measurement technology, off-line method and on-line method. The multi-sensor data fusion method based on Kalman filter and matrix weighted linear minimum variance optimal fusion criterion is studied. The advanced dynamic prediction and redundant data fusion of robot online pose measurement system are realized. At the same time, a method of measuring the three-dimensional attitude angle by combining the calculation value of the industrial robot encoder with the biaxial inertial dip meter is developed. In this paper, the optimum working range and working conditions of on-line pose measurement system are studied and analyzed. A coordinate system transformation method based on point cloud feature line coincidence is proposed, which can accurately and quickly unify the coordinate system between the online position and attitude measurement system and the industrial robot. Based on KUKA KR 5 arc industrial robot, a set of real-time measurement and control software algorithm is developed. In the laboratory environment, the real-time communication and feedback compensation between the on-line position and attitude measurement system and the industrial robot are realized.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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