基于可变结构参数调整的机器人末端运动检测系统

Robot End Motion Detection System Based on Variable Structure Parameter Adjustment

为解决机器末端运动轨迹测量精度波动较大,不能满足工程实际要求的问题,提出一种可变结构参数调整模型,并开发了一套针对机器人抛光的机器人末端运动检测系统。基于轴线汇聚模型研究双目视觉系统中关键结构参数(基线距、光轴角、垂直视场角)对测量精度的影响规律并确定参数的最优域;通过实验得出各结构参数和测量精度的交互影响规律,建立可变结构参数调整模型;开发了一套机器人末端运动检测系统,并对其精度和性能进行了比对验证。验证结果表明:所设计的机器人末端运动检测系统在大尺度条件下检测精度在0.094 mm内,与激光跟踪仪精度相当,满足机器人抛光需求。

In order to solve the problem that the measurement accuracy of machine end motion trajectory fluctuates greatly and cannot meet the actual requirements of the project,a variable structure parameter adjustment model was proposed,and a robot end motion detection system for robot polishing was developed.Based on the axis convergence model,the influence law of key structural parameters such as baseline distance,optical axis angle,vertical field angle on the measurement accuracy in the binocular vision system was studied and the optimal domain of parameters was determined.Through experiments,the interactive influence law of each structure parameter on measurement accuracy was obtained,and the variable structure parameter adjustment model was established.A set of robot end motion detection system was developed,and its accuracy and performance were compared and verified.The verification results show that the detection accuracy of the designed robot end motion detection system is within 0.094 mm under large-scale conditions,which is comparable to the accuracy of the laser tracker.It meets the requirements of robot polishing.