基于AFSA-RVM的激光加工机器人标定

Calibration of Laser Processing Robot Based on AFSA-RVM

针对激光加工机器人工作环境的多样性,为了提高激光加工机器人的标定精度,提出一种基于AFSA-RVM的激光加工机器人标定方法。首先分析激光加工机器人的运动学模型,并建立了激光加工机器人误差估计的数学模型,然后采用相关向量机对激光加工机器人的误差进行建模与补偿,并采用AFSA对相关向量机进行优化,最后采用具体应用实例对激光加工机器人的标定性能进行测试。结果表明,本文方法可以有效对激光加工机器人标定误差进行补偿,获得了较高的激光加工机器人标定精度,而且标定结果要优于其它的激光加工机器人标定方法。

In order to improve the accuracy of laser processing machine,a new method based on AFSA-RVM is proposed to improve the accuracy of laser processing. Firstly,analyse the kinematics model of the robot laser processing,and establish a mathematical model of laser processing robot error estimation,and secondly the relevance vector machine is used for laser processing robot error modeling and compensation,and relevance vector machine is optimized by AFSA,finally,the specific application examples of laser processing robot calibration is used to test the performance.Results show that the proposed method can be effective compensate error for laser processing robot,obtain the higher laser processing robot calibration accuracy,and the calibration results to be superior to other laser processing robot calibration method.