用于激光清洁的机器人轨迹精度实验研究

Experimental Study on Trajectory Accuracy of Robot for Laser Cleaning

随着自动化程度不断提高及激光清洁的快速发展和应用,利用机器人控制激光器进行清洁工作,效率将大幅提高。提出机器人编程与轨迹精度间存在联系,通过实验记录圆形轨迹和直线轨迹中随机点位置,利用最小二乘法对各点数据进行分析处理。根据各点找到空间拟合轨迹方程,并将拟合轨迹与编程理论轨迹对比,通过图像和数据分析得出结论:在使用机器人进行轨迹编程时,轨迹编程的单位编程距离越短,运动过程中的轨迹精度越高,稳定性越好。

With the continuous improvement of automation and the rapid development and application of laser cleaning, the efficiency of cleaning with a robot controlled laser will be greatly improved. The relationship be- tween robot programming and trajectory accuracy was proposed, and the locations of random points in circular trajectory and line trajectory were recorded by experiments, and the data of each point were analyzed by least square method. According to each point, the space fitting trajectory was found, and the fitting trajectory was compared with the programmed theoretical trajectory. Through image and data analysis, it is concluded that the shorter the unit programming distance, the higher the trajectory precision and the better the stability of the traj- ectory programming in the trajectory programming of the robot.