车辆底盘制孔机器人的运动学标定研究

Kinematic calibration of an industrial robot used for drilling on the vehicle chassis

面向车辆底盘结构的制孔位置精度要求,针对底盘自动制孔工业机器人本体的末端定位精度问题开展研究。文中构建了基于局部指数积公式的机器人运动学模型和误差传递模型,推导了运动学参数标定算法,开展了实际机器人末端位形标定测量实验,根据实验结果分别分析了机器人绝对定位精度和相对定位精度在参数标定前后可达到的数值,对面向底盘制孔工艺要求的机器人定位精度的再提升给出了有效途径。

For the accuracy requirements of the hole position of the vehicle chassis,the positioning accuracy of the industrial robot in the automatic drilling robot system is studied.In this paper,the kinematic and error model are constructed based on local exponential product formula(POE).The kinematic calibration algorithm is presented and the experiments for the KUKA robot are conducted.According to the experimental results,the absolute and relative positioning accuracy are analyzed,respectively.This paper gives an effective solution for the improvement of the positioning accuracy of the robot that is used for drilling on the vehicle chassis.