三维形貌测量机器人的轨迹规划技术
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摘要
针对带有深孔特征的异型曲面三维形貌的测量需求,提出基于CAD(Computer Aided Design)数模提取信息进行自适应布点的方法和基于法向精度控制的轨迹规划测量方法。通过对机器人的位移-时间、速度-时间与加速度-时间曲线的仿真分析,验证了运用高阶多项式插值法可得到平滑的轨迹曲线。通过基于法向精度控制的形貌测量实验分析形貌测量过程中TCP(Tool Centror Point)的位置偏差与角度偏差,发现位置偏差小于0.092 mm,角度偏差在0.19°内,证明了所提方法的可行性。
Aiming at the requirements of three-dimensional shape measurement of profiled surfaces with the deep hole feature, a method based on CAD(Computer Aided Design) digital model extraction information for self-adaptability measurement and a trajectory planning measurement method based on normal precision control are proposed. The simulation analysis of the displacement-time, speed-time and acceleration-time curves of a robot verifies the smoothness of the trajectory curve obtained by the high-order polynomial interpolation method. The positional deviation and angular deviation of TCP(Tool Centror Point) in the process of shape measurement are verified by the shape measurement experiment based on the normal precision control. The position deviation is within 0.092 mm and the angular deviation is within 0.19°, which proves the feasibility of the proposed method.
Aiming at the requirements of three-dimensional shape measurement of profiled surfaces with the deep hole feature, a method based on CAD(Computer Aided Design) digital model extraction information for self-adaptability measurement and a trajectory planning measurement method based on normal precision control are proposed. The simulation analysis of the displacement-time, speed-time and acceleration-time curves of a robot verifies the smoothness of the trajectory curve obtained by the high-order polynomial interpolation method. The positional deviation and angular deviation of TCP(Tool Centror Point) in the process of shape measurement are verified by the shape measurement experiment based on the normal precision control. The position deviation is within 0.092 mm and the angular deviation is within 0.19°, which proves the feasibility of the proposed method.
引文
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[2] Heller J, Henrion D, Pajdla T. Hand-eye and robot-world calibration by global polynomial optimization[C]. IEEE International Conference on Robotics and Automation, 2014: 3157-3164.
[3] Ma G Q, Liu L, Zhang R Y, et al. Kinematics analysis and measurement path planning research of complex curved surface measurement robot[J]. Manufacturing Automation, 2017, 39(1): 80-84. 马国庆, 刘丽, 张若妍, 等. 复杂曲面测量机器人运动学分析及测量路径规划研究[J]. 制造业自动化, 2017, 39(1): 80-84.
[4] Xie X H, Sun L N, Cheng Y. Off-line program based robotic compliant grinding method and experiment[J]. Journal of Nanjing University of Science and Technology, 2016, 40(5): 619-625. 谢小辉, 孙立宁, 程源. 基于离线编程的机器人柔顺打磨方法及实验[J]. 南京理工大学学报(自然科学版), 2016, 40(5): 619-625.
[5] Wang P, Shi R Z, Zhong X F, et al. 3D scanning measurement system based on double-line projection and the line-plane constraint[J]. Infrared and Laser Engineering, 2017, 46(4): 140-146. 王鹏, 史瑞泽, 钟小峰, 等. 基于双线投影与线面约束的3D扫描测量系统研究[J]. 红外与激光工程, 2017, 46(4): 140-146.
[6] Xie Z X, Chi S K, Wang X M, et al. Calibration method for structure-light auto-scanning measurement system based on coplanarity[J]. Chinese Journal of Lasers, 2016, 43(3): 0308003. 解则晓, 迟书凯, 王晓敏, 等. 基于共面法的结构光自扫描测量系统参数标定方法[J]. 中国激光, 2016, 43(3): 0308003.
[7] Xu Y Y, Shi K, Wang Y W, et al. Research progresses of phase-shifting interferometry technology and phase shift extraction method[J]. Laser & Optoelectronics Progress, 2018, 55(2): 020004. 徐媛媛, 时刻, 王亚伟, 等. 相移干涉技术及相移获取方法研究进展[J]. 激光与光电子学进展, 2018, 55(2): 020004.
[8] Xiao Y F, Xiao J, Wang Y. The parallel methods of simultaneous equations in discontinuous deformation analysis[J]. Journal of University of Chinese Academy of Sciences, 2018, 35(1): 118-125. 肖云帆, 肖俊, 王颖. 非连续变形分析中方程组的并行化求解方法[J]. 中国科学院大学学报, 2018, 35(1):118-125.
[9] Qiang N, Gao J, Kang F J. Multi-robots global path planning based on PSO algorithm and cubic spline[J]. Journal of System Simulation, 2017, 29(7): 1397-1404. 强宁, 高洁, 康凤举. 基于PSO和三次样条插值的多机器人全局路径规划[J]. 系统仿真学报, 2017, 29(7): 1397-1404.