基于激光定位的机器人加工轨迹规划

Machining trajectory planning of robot based on laser location

随着机械化生产的逐渐实现,加工机器人的应用范围越来越广泛。在此背景下,为提高机器人加工精度,针对基于机器视觉、COMS工业相机以及CAM的三种机器人加工轨迹规划方法无法准确跟踪给定轨迹,导致规划轨迹与期望轨迹存在较大误差的问题,提出一种基于激光定位的机器人加工轨迹规划方法。该方法首先利用激光雷达方法测量机器人与待加工目标之间的相关信息,然后利用激光跟踪仪进行误差标定,最后将误差标定结果作为改进蚁群算法迭代条件,通过多次迭代生成机器人加工轨迹。实验测试结果表明:与基于机器视觉的规划方法、基于COMS工业相机的规划方法以及基于CAM的规划方法相比,基于激光定位的机器人加工轨迹规划方法应用下,规划轨迹与期望轨迹拟合优度提高0. 07、0. 05、0. 08,轨迹定位误差较小,基本达到预期目标。

With the gradual realization of mechanized production,the application range of processing robots is more and more extensive. In this context,in order to improve the machining accuracy of robots,the three robot machining trajectory planning methods based on machine vision,COMS industrial camera and CAM cannot accurately track a given trajectory,resulting in a large error between the planned trajectory and the desired trajectory. A laser processing based trajectory planning method for robots method firstly uses the lidar method to measure the related information between the robot and the target to be processed,and then uses laser tracker to perform error calibration. Finally,the error calibration result is used as the improved ant colony algorithm iteration condition,and the robot processing trajectory is generated through multiple iterations. The experimental results show that,compared with the machine vision-based planning method,the COMS industrial camera-based planning method and the CAM-based planning method,the planning trajectory and the desired trajectory are better than the laser locating robot trajectory planning method and up to 0.07,0.05,0.08 respectively,the track positioning error is small,basically reach the expected goal.