机器人自动制孔中绝对定位误差的分析与补偿
收稿日期: 2014-07-14
修回日期: 2014-10-07
网络出版日期: 2014-10-20
基金资助
国家自然科学基金 (51275463); 中央高校基本科研业务费专项资金 (2014FZA4003)
Analysis and compensation for absolute positioning error of robot in automatic drilling
Received date: 2014-07-14
Revised date: 2014-10-07
Online published: 2014-10-20
Supported by
National Natural Science Foundation of China (51275463); Fundamental Research Funds for the Central Universities (2014FZA4003)
由于机器人绝对定位精度相对较低,无法直接满足自动制孔的孔位精度要求。为了提高机器人自动制孔的孔位精度,对机器人绝对定位误差进行了研究。首先,阐述了绝对定位误差的来源和产生过程,并通过理论分析和相关试验,证明了绝对定位误差会对机器人基坐标系的平移分量和姿态变换分量产生不同程度的影响。然后,为了补偿由于基坐标系标定不准确所引起的坐标转换误差,从飞机曲面构造原理角度,提出了一种基于误差Coons曲面函数的补偿方法。制孔试验表明,采用基于误差Coons曲面函数的补偿方法,可以使得坐标转换误差得到有效的补偿。机器人自动制孔的孔位平均位置误差为0.205 mm,最大位置误差为0.343 mm,满足孔位精度在0.5 mm以内的要求,实现了机器人自动化精确制孔。
董辉跃 , 周华飞 , 尹富成 . 机器人自动制孔中绝对定位误差的分析与补偿[J]. 航空学报, 2015 , 36(7) : 2475 -2484 . DOI: 10.7527/S1000-6893.2014.0273
Due to the relatively low absolute positioning accuracy of robot, the required accuracy of drilled holes could not be directly met without compensation during robot automatic drilling. In order to improve the accuracy, the absolute positioning error of robot is researched. Firstly,this article discusses the error sources and generating processes. And through theoretical analysis and relevant experiment, we found that the absolute positioning error would have different influences on translation component and rotation component of calibration result of robot base coordinate system. Secondly, in order to compensate for the coordinate converted error caused by calibration inaccuracy of base coordinate system, a new method based on constructing error Coons surface function is proposed from the standpoint of aircraft surface construction principle. And the validity of the new method is experimentally verified through robot automatic drilling. Results show that the average error of holes is 0.205 mm and the maximum error is less than 0.343 mm, which must be controlled under 0.5 mm. The required accuracy of robot automatic drilling is realized.
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