基于激光跟踪仪的协作机器人精度测量技术研究

Research on precision measurement technology of collaborative robot based on laser tracker

本文选取AUBO-i5协作机器人作为实验对象,建立了 DH参数模型,设计了一套测量方法,并利用FARO激光跟踪仪对AUBO-i5机器人的位姿、距离、轨迹、稳定性等方面进行了性能测量,得到了其准确度和重复性。结果表明,该AUBO-I5协作机器人的位置准确度为1.021mm使用前需要进行DH参数校准,其各项指标重复性均远小于准确度,且重复性较好,表明该机器人可以通过DH参数校准,提升准确度。

The AUBO-i5 collaborative robot was selected as the experimental object,the DH parameter model was established,and a set of measurement methods were designed.The FARO laser tracker was used to measure the performance of the AUBO-i5 robot in terms of pose,distance,trajectory,stability,etc.,Got its accuracy and repeatability.The results show that the position accuracy of the AUBO-I5 robot is 1.021mm,and DH parameter calibration is required before use.The repeatability of each index is far less than the accuracy,and the repeatability is good,indicating that the robot can pass the DH parameter calibration to improve the accuracy.