基于LabVIEW的雕刻机器人标定测试系统仿真研究

Simulation Research of Calibration System for Carving Robot Based on LabVIEW

由于机器人构件的结构参数及运动学参数影响了机构的定位准确度与精度,因此通过运动学标定来提高混联式雕刻机器人的加工精度。使用光栅尺等传感器测量位置坐标,基于LabVIEW设计了该机器人的标定测试系统,将传感器输出的TTL信号转化为位移量,采用最小二乘法对系统中MATLAB脚本节点进行参数识别,然后计算刀尖点的中心位置坐标补偿量,并在测试界面对比了标定前后的位置误差。实验表明,标定后的标准误差变化了4.28%,均方根误差减小了30.48%,最大误差减小了22.30%,通过运动学标定提高了机器人的定位精度。

As the structure parameters and the kinematic parameters of the robot components affect the positioning accuracy and precision, the approach of kinematic calibration was used to improve the accuracy of the hybrid carving robot in this paper. The position coordinates were measured by the grating rulers. The calibration system of the robot was designed based on LabVIEW. TTL signals of the sensor were transformed into the displacement value, and the least square method was used to identify the parameters of MATLAB script nodes. Then the center coordinates compensation of the tool nose point was calculated and the position errors before and after calibration were contrasted in the test interface. The experimental results showed that the standard error after the calibration was changed by 4.28 %, the root mean square error was decreased by 30.48%, and the maximum error was reduced by 22.30%. It can be seen that the localization accuracy of the robot is improved by kinematic calibration.