工业机器人工作空间约束下激光雷达站位规划

Planning of Laser Radar Station under Workspace Constraint of an Industrial Robot

为了解决规划的激光雷达站位满足机器人的可达性问题,文中提出了融合工业机器人工作空间和激光雷达测量特性的站位规划约束模型。借助DenavitHartenberg(DH)方法建立六自由度工业机器人各关节坐标系,采用包络法计算出腕关节的工作空间。依据规划的激光雷达姿态和雷达尺寸计算出激光雷达的可达范围。建立激光雷达站位坐标满足工业机器人可达性约束。结果表明:文中约束方法实现了雷达站位自动规划,验证了所提约束模型的有效性,为大跨度空间下机器人与测量设备结合应用提供了可行途径。

For the accessibility of industrial robots in the planning of a laser radar station,the paper proposes a station planning constraint model which combines industrial robot workspace with laser radar measurement characteristics.Firstly,the coordinate system of the joints of a six degree freedom industrial robot is established by D H method,and the workspace of its wrist joints is calculated by the enveloping method.Then,the reachable range of laser radar is determined according to the posture and size of the laser radar to be planned.The constraint conditions of the laser radar station within the reachable range are established,so that the station planning can meet the accessibility constraints of industrial robots.Finally,the proposed constraint method is applied in an automobile company to verify its effectiveness.The study provides a feasible approach for robots working with measuring equipment in a large space.