机器人工具坐标系标定中的非线性问题求解方法研究

Research on Solving Nonlinear Problems in Robot Tool Coordinate System Calibration

疫情形势下,为解决狭窄空间、复杂曲面、无接触、安全自动消杀作业需求,设计一种多传感器融合测量的基于双车拼接的可移动自动消杀机械控制系统。设计可快速拆分组装的双车拼接全向可移动平台车,解决狭窄空间的转运难题,同时采用激光导航传感器构建场景坐标系,精确定位设备位置,使设备运行过程中定位精度达到±5 mm以内。设计激光测距传感器、避障传感器、消杀装置多传感器融合测量的扫描消杀装置,并基于KUKA机器人传感器接口RSI设计修正算法,实现复杂曲面消杀过程中末端姿态在线调整及安全防护。最后,针对消杀过程中现场无人工干预需求,采用远程控制方式,建立远程终端-可移动平台控制系统-机器人控制系统的控制网络,操作者在远程终端下达杀菌指令,可移动自动消杀机械控制系统根据杀菌范围构建杀菌路径并智能化自主完成杀菌任务。进一步地,搭建立式壁面以及弧顶消杀场景,消杀过程中位置偏差±3 mm,角度偏差±1.5°,控制策略对实际对象拟合精度较高,增大了有效杀菌作用面积。

In the calibration of robot tool coordinate system,the constraint equation was established by using the distance between any two points in the robot space to remain unchanged in the robot base coordinate system and the measuring instrument coordinate system.For solving such nonlinear problems of the equation,biased random key genetic algorithm(BRKGA)was introduced.In order to enhance the stability of algorithm and accelerate the convergence of algorithm,local search was added for improvement.The simulation results show that the solution accuracy of improved BRKGA is improved by 17%and 18%than the least square iteration and Newton method respectively.The results of physical experiments show that the solution accuracy of improved BRKGA is improved by 22%and 8%respectively.The solution accuracy variance of improved BRKGA is smaller than that of BRKGA,and the number of iterations is less than that of BRKGA while it converges,indicating that improved BRKGA has better stability and faster convergence.