[1]周炜,廖文和,田威,等.基于间接测量法的制孔机器人的工具参数标定[J].南京理工大学学报(自然科学版),2013,37(01):81.
 Zhou Wei,Liao Wenhe,Tian Wei,et al.Indirect measure method of calibrating tool parameters for automated drilling robot[J].Journal of Nanjing University of Science and Technology,2013,37(01):81.
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基于间接测量法的制孔机器人的工具参数标定
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
37卷
期数:
2013年01期
页码:
81
栏目:
出版日期:
2013-02-28

文章信息/Info

Title:
Indirect measure method of calibrating tool parameters for automated drilling robot
作者:
周炜1廖文和1田威1万世明2刘勇2
1.南京航空航天大学 机电学院,江苏 南京 210016; 2.成都飞机工业(集团)有限责任公司 技术装备公司,四川 成都 610091
Author(s):
Zhou Wei1Liao Wenhe1Tian Wei1Wan Shiming2Liu Yong2
1.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;2.Technology and Equipment Company,Chengdu Aircraft Industry(Group)Corporation Ltd.,Chengdu 610091,China
关键词:
工业机器人自动制孔工具参数标定
Keywords:
industrial robotsautomated drillingtool
分类号:
V262.4;TP242.2
摘要:
为了提高工业机器人的工具参数标定精度,该文在机器人运动学模型的基础上,提出了一种基于间接测量的工具参数标定方法。该方法利用空间中两点位姿相对固定的特性,应用机器人运动学模型建立了一个易于直接测量及标定的工具参数和位于制孔刀具轴线上的虚拟刀尖点参数之间的对应关系。通过在标定平板上制孔将虚拟刀尖点相对于世界坐标系的位姿固定下来,以已标定的工具参数为参照推导出制孔机器人的虚拟刀尖点的参数。应用标定结果进行了实际制孔试验,相比传统的工具参数标定方法有效地提高了制孔的精度。
Abstract:
To increase the calibration precision of industrial robot tool parameters,this paper proposes a calibration method through indirect measurement based on robot kinematics model.By means of relatively fixed position and orientation of two points in space,the method establishes relationship between tool parameters be easily calibrated through direct measurement and parameters of a virtual tool point located on the cutting tool axis.The position and orientation of the virtual tool point in the world coordinate system is obtained by drilling a test hole on a calibration plate,and the parameters of the virtual tool point can be deduced from the calibrated parameters.The experimental results show that compared with traditional methods the drilling precision is effectively improved by the method proposed here.

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备注/Memo

备注/Memo:
基金项目:江苏省科技支撑计划(BE2011178)
作者简介:周炜(1981-),男,博士生,主要研究方向:飞机柔性化自动装配,Email:zhouwei@nuaa.edu.cn;
通讯作者:田威(1977-),男,博士,副教授,主要研究方向:数字化柔性装配技术和绿色再制造工程,Email:tw_nj@nuaa.edu.cn。
更新日期/Last Update: 2013-02-15