OTHER
Online Calibration of Visual Measurement System Based on Industrial Robot
Yi Wang, Changjie Liu, Xueyou Yang, Shenghua Ye
- Year
- 2011
- Citations
- 2
- Access
- Open access
Abstract
汽车车身总成、分总成的加工过程中应用工业机器人视觉测量系统对关键尺寸进行在线实时监测．机械臂及环境温度变化导致杆件和关节热膨胀变形，造成测量结果产生温度漂移．本文提出了一种在线校准方法．首先根据机器人的D-H正向运动学模型和微分运动学模型建立末端关节坐标系的定位误差模型，然后结合轴动实验并利用多元线性回归方法确定受温度变化影响最为显著的机器人连杆参数，最后建立基于基准球的温度误差补偿模型．现场测量数据表明，该方法能将温度变化引起的测量误差控制在0.05 mm左右，并且适应生产线的正常节拍．
Keywords
CalibrationComputer visionArtificial intelligenceComputer scienceHuman–computer interactionRobotMathematicsStatistics
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