Automatic high-precision measurement technology of special-shaped surface parts based on robot arms

摘要

Abstract In order to meet the requirements of large-scale, special-shaped surface, high-precision surface measurement of product parts, an automated, high-precision robot arm measurement system based on industrial robots is proposed. According to the D-H method, the relative posture conversion relationship between the robot arm and the elastic probe is discussed. In addition, on the premise of considering the contact deformation between the elastic probe and the measuring surface, the coordinate data of the measuring point is obtained based on the probe deformation model. At the same time, the accuracy calibration is performed by means of visual photogrammetry, and the validity of the coordinate measurement data of the profiled surface is guaranteed.