航空学报 > 2020, Vol. 41 Issue (11): 424105-424105   doi: 10.7527/S1000-6893.2020.24105

基于误差相似性的移动机器人定位误差补偿

石章虎1,2, 何晓煦2,3, 曾德标2,3, 雷沛2,3   

  1. 1. 南京航空航天大学 机电学院, 南京 210016;
    2. 航空工业成都飞机工业(集团)有限责任公司, 成都 610092;
    3. 四川省航空智能制造装备工程技术研究中心, 成都 610092
  • 收稿日期:2020-04-16 修回日期:2020-05-13 出版日期:2020-11-15 发布日期:2020-07-17
  • 通讯作者: 何晓煦 E-mail:hxx325@nuaa.edu.cn

Error compensation method for mobile robot positioning based on error similarity

SHI Zhanghu1,2, HE Xiaoxu2,3, ZENG Debiao2,3, LEI Pei2,3   

  1. 1. College of Mechanical and Electronical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    2. Chengdu Aircraft Industrial(Group) Co. Ltd, Chengdu 610092, China;
    3. Sichuan Aviation Intelligent Manufacturing Equipment Engineering Technology Research Center, Chengdu 610092, China
  • Received:2020-04-16 Revised:2020-05-13 Online:2020-11-15 Published:2020-07-17

摘要: 对由AGV承载的工业机器人组成的AGV式移动制孔机器人的定位误差补偿方法进行了研究。在面向飞机装配的AGV式移动制孔机器人系统中,利用激光跟踪仪构建坐标系,提出了AGV式移动制孔机器人机座坐标系的换站方法,能更好地适应飞机制造多品种、小批量的特点。基于对AGV式移动制孔机器人定位误差源的分析,利用定位误差相似性,提出针对AGV式移动制孔机器人的基于反距离加权定位误差的空间插值与补偿方法,克服了现有技术对于AGV式移动制孔机器人定位误差补偿的局限性。以AGV搭载的KUKA KR480型工业机器人制孔系统作为试验对象,通过试验选取最优网格步长,补偿结果表明,能将系统综合定位误差平均值由补偿前的1.045 mm降低到0.227 mm,最大绝对定位误差由补偿前的2.727 mm降低到0.478 mm,降低了82.47%,该方法能有效提高AGV式移动制孔机器人的绝对定位精度。

关键词: 飞机装配, 移动机器人, 精度补偿, 误差相似性, 空间插值

Abstract: A positioning error compensation method for the AGV based drilling robot is studied in this paper. In this kind of robotic drilling system for aircraft assembly, the measuring coordinate system is constructed by the laser tracker, and the method of switching station for the AGV based drilling robot is proposed, which can better adapt to the characteristics of multiple varieties and small batches of aircraft manufacturing. Furthermore, based on the analysis of the positioning error source, a spatial interpolation and error compensation method depending on the inverse distance weighting is proposed for the AGV based drilling robot, overcoming the deficiency of the existing error compensation method. An experiment is conducted to obtain the optimal grid step for the KUKA KR480 industrial robot mounted on an AGV. The experimental result shows that, because of the implementation of this method, the average absolute positioning error is reduced from 1.045 mm to 0.227 mm, and the maximum absolute positioning error is reduced by 82.47%, from 2.727 mm to 0.478 mm, suggesting that this method can effectively improve the absolute positioning accuracy of the AGV based drilling robot.

Key words: aircraft assembly, mobile robots, accuracy compensation, error similarity, spatial interpolation

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