基于激光雷达的机器人精准制孔控制系统设计

Design of precision pore control system for robot based on lidar

当前制孔控制系统存在准确度低、灵活性和实时性差的问题,提出并设计基于激光雷达的机器人精准制孔控制系统。系统硬件主要构成部分为制孔机器人、壁板定位设备、机器人移动平台、制孔终端执行器与激光雷达跟踪仪等。对系统关键模块进行分析:将PID控制器与终端执行器连接,依据系统输入和实际输出构成偏差,并经比例环节和积分环节及微分环节计算之后输出给终端执行器,实现终端执行器高精度制孔。系统软件运行流程为:制孔前测量及标定制孔区域范围内基准孔;机器人将执行器定位到基准孔位置,利用激光雷达跟踪仪测量基准孔位,并计算实际孔位和理论孔位间差值,假设偏差超过设定值,则生成位置修正命令,重复调姿一直到孔位误差满足预设要求;机器人位姿修正后,按照顺序条继续执行命令;移动平台和终端执行器接收命令之后进行定位,终端执行器接收制孔命令后完成压紧、进给和切削等一系列制孔流程。实验结果表明,该系统制孔准确度和效率高,灵活性好,具有可实践性。

The current hole control system has the problems of low accuracy,poor flexibility and poor real-time performance. A laser-based precision hole control system for robots is proposed and designed. The main components of the system hardware are the hole-making robot,the wall positioning device,the robot moving platform,the hole-end terminal actuator and the laser radar tracker. The key modules of the system are analyzed as follow: the PID controller is connected with the terminal actuator,and the deviation is formed according to the system input and the actual out- put,and is output to the terminal actuator through the proportional link,the integral link and the differential link to re- alize highly accurate hole making of the terminal actuator. The system software running process is: measuring and standardizing the reference hole in the hole area before the hole is made;the robot positions the actuator to the refer- ence hole position,uses the lidar tracker to measure the reference hole position,and calculates the difference between actual hole position and the theoretical hole position. If the deviation exceeds the set value,a position correction com- mand will be generated,which will be repeated till the hole position error meets the preset requirement;after the robot posture correction,continues to execute the command according to the sequence bar;the mobile platform and the terminal actuator will position after receiving the command. The terminal actuator receives a series of hole making processes such as pressing,feeding and cutting after receiving the hole making command. The experimental results show that the system has high accuracy,efficiency,good flexibility and practicality.