应用李群封闭光滑特性的机器人跟踪/测量-加工一体化：I系统标定与轨迹生成

doi:10.3901/JME.2025.20.001

机械工程学报 ›› 2025, Vol. 61 ›› Issue (20): 1-15.doi: 10.3901/JME.2025.20.001

• 仪器科学与技术 • 上一篇

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应用李群封闭光滑特性的机器人跟踪/测量-加工一体化：I系统标定与轨迹生成

李文龙, 蒋诚, 徐伟, 丁汉

华中科技大学智能制造装备与技术全国重点实验室武汉 430074

收稿日期:2024-11-01 修回日期:2025-05-10 发布日期:2025-12-03
作者简介:李文龙(通信作者)，男，1980年出生，教授，博士研究生导师。主要研究方向为三维视觉测量与机器人加工。E-mail:wlli@mail.hust.edu.cn
蒋诚，男，1994年出生，博士。主要研究方向为机器人加工。E-mail:307080666@qq.com
徐伟，男，1990年出生，博士后。主要研究方向为大尺寸测量。E-mail:w_xu@mail.hust.edu.cn
丁汉，男，1963年出生，教授，博士研究生导师，中国科学院院士。主要研究方向为机器人加工、数字化智能化制造等。E-mail:dinghan@mail.hust.edu.cn
基金资助:
国家自然科学基金资助项目(52188102，52075203，52205524)。

Integration of Robotic Tracking/Measuring-machining Applying the Closed and Smooth Properties of Lie Groups: I System Calibration and Path Generation

LI Wenlong, JIANG Cheng, XU Wei, DING Han

State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074

Received:2024-11-01 Revised:2025-05-10 Published:2025-12-03

摘要/Abstract

摘要： 蒙皮是构成飞机气动外形的主要零件，具有大尺寸、薄壁(厚度2～6 mm)、型面复杂等技术特点，目前企业普遍采用人工比对划线-手动修切方式去除蒙皮边缘余量，存在人因累积误差大、装配质量难控等问题。视/力引导的高柔性大范围双机器人跟踪/测量-加工一体化为解决这一难题提供了新思路，但双机器人位姿同步标定难、加工位姿光顺难、轨迹精度控制难是制约蒙皮机器人铣削加工应用的主要瓶颈。上述难题可以归纳为空间位姿的同步解耦与位姿误差的定量控制问题，为此应用李群李代数封闭光滑特性重点围绕双机器人位姿同步标定、光顺加工轨迹生成与末端位姿闭环反馈控制开展研究，具体如下：第I部分提出双机器人跟踪/测量-加工一体化系统同步标定方法，建立机器人-跟踪系统运动模型和系统参数辨识方法，研究蒙皮零件光顺加工轨迹生成方法；第II 部分研究外部跟踪系统下的末端位姿闭环反馈控制模型，研制机器人末端闭环反馈控制系统，开展双机器人系统同步标定精度测试、末端位姿闭环控制轨迹精度测试、典型蒙皮样件机器人铣削加工精度测试，验证所提方法的有效性。

关键词: 跟踪/测量-加工一体化, 李群李代数, 封闭光滑特性, 位姿同步标定, 铣削轨迹生成

Abstract: The aircraft skin is the primary component forming the aerodynamic shape of an aircraft, characterized by large size, thin wall (thickness 2～6 mm) and complex structure. Currently, manufacturers generally adopt a manual comparison-marking-trimming method to remove the edge allowance of the skin parts, leading to large cumulative human errors and difficulties in controlling assembly quality. Vision/force-guided industrial robot milling with high-flexibility and large operation range provides a novel approach to solving these problems. However, difficulties in simultaneous calibration of dual-robot systems, smooth path generation for machining and accurate control of the robot’s trajectory have become the bottlenecks restricting the application of robot milling for the aircraft skin. The above challenges can be summarized as the simultaneous decoupling of spatial transformation and the quantitative control of pose errors. To address these issues, this paper conducts in-depth research on dual-robot system calibration, smoothing machining path generation and closed-loop feedback control of the robot’s end-effector. The Part I proposes simultaneous calibration method of dual-robot system for robotic tracking/measuring-machining, establishes kinematics model of robot-tracking system and studies method to generate a smooth machining path for aircraft skin. The Part II studies closed-loop feedback control model for robot’s end-effector under external tracking system, develops closed-loop feedback control system for robot. The simultaneous calibration accuracy test of dual-robot, the trajectory accuracy test of end pose with closed-loop control, and the robotics milling accuracy test of typical skin samples are carried out to validate the effectiveness of the proposed methods.

Key words: integration of tracking/measuring and machining, lie group and lie algebra, closed and smooth property, pose simultaneous calibration, milling path generation

中图分类号:

TH161

李文龙, 蒋诚, 徐伟, 丁汉. 应用李群封闭光滑特性的机器人跟踪/测量-加工一体化：I系统标定与轨迹生成[J]. 机械工程学报, 2025, 61(20): 1-15.

LI Wenlong, JIANG Cheng, XU Wei, DING Han. Integration of Robotic Tracking/Measuring-machining Applying the Closed and Smooth Properties of Lie Groups: I System Calibration and Path Generation[J]. Journal of Mechanical Engineering, 2025, 61(20): 1-15.

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应用李群封闭光滑特性的机器人跟踪/测量-加工一体化：I系统标定与轨迹生成

Integration of Robotic Tracking/Measuring-machining Applying the Closed and Smooth Properties of Lie Groups: I System Calibration and Path Generation

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