摘要
为了快速、精确、低成本的实现工业机器人的标定,设计了基于双PSD(位置传感装置)的工业机器人标定系统,激光束校准是该标定系统的关键问题,需要控制固定在工业机器人末端执行器上的激光指针,使得激光束照射在一个PSD中心,并反射到另一个PSD中心,针对此多目标位置控制问题,在建立激光束校准模型的基础上,运用H∞控制理论设计了H∞控制器,通过在线预估工业计机器人坐标系与PSD坐标系之间的变换矩阵,快速实现激光束校准,并通过实验验证了该H∞控制方法的可行性和有效性。
In order to realize the calibration of industrial robots quickly,accurately and cheaply,the calibration system of industrial robots based on dual-PSD(Position Sensitive Device)is designed.The calibration of laser beam is the key problem of the calibration system.It needs to control the laser fixed on the end-effector of the industrial robots so that the laser beam is illuminated in one PSD center and reflected to another PSD center.Based on the laser beam calibration model and H∞control theory,H∞controller is designed in this paper.The laser beam calibration is realized quickly by online estimate the transformation matrix between the industrial robot coordinate system and the PSD coordinate system.The experiment results show that the H∞control method is feasible and effective.
作者
邓志辉
张西良
程宇
DENG Zhi-hui;ZHANG Xi-liang;CHENG Yu(School of Mechanical Engineering,Jiangsu University,Jiangsu Zhenjiang212013,China;School of Mechanical and Electrical Engineering,Changzhou College of Information Technology,Jiangsu Changzhou213164,China;School of College,Michigan State University,East Lansing MI 48823,USA)
出处
《机械设计与制造》
北大核心
2019年第10期242-245,250,共5页
Machinery Design & Manufacture
基金
江苏省研究生科研创新基金(CXLX13-647)
江苏省高校“青蓝工程”资助项目
扬州市自然科学基金(YZ2016124)
关键词
双PSD
激光束
校准
H∞控制
变换矩阵
工业机器人
Dual-PSD
Laser Beam
Calibration
H∞Control
Transformational Matrix
Industrial Robots
