机器人加工几何误差建模研究：II参数辨识与位姿优化

doi:10.3901/JME.2021.07.169

机械工程学报 ›› 2021, Vol. 57 ›› Issue (7): 169-184.doi: 10.3901/JME.2021.07.169

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机器人加工几何误差建模研究：II参数辨识与位姿优化

李文龙, 谢核, 尹周平, 丁汉

华中科技大学数字制造装备与技术国家重点实验室武汉 430074

收稿日期:2020-04-03 修回日期:2020-11-05 出版日期:2021-04-05 发布日期:2021-05-25
通讯作者: 李文龙(通信作者),男,1980年出生,教授,博士研究生导师。主要研究方向为机器人加工几何建模、大型复杂零件视觉测量。E-mail:wlli@mail.hust.edu.cn
作者简介:谢核，男，1990年出生，博士研究生。主要研究方向为机器人加工几何建模。E-mail：xiehe@mail.hust.edu.cn;尹周平，男，1972年出生，教授，博士研究生导师。主要研究方向为电子制造技术与装备、数字化智能化制造等。E-mail：yinzhp@mail.hust.edu.cn;丁汉，男，1963年出生，教授，博士研究生导师。中科院院士。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(51535004，52075203)、湖北省重点研发计划(2020BAA025)和武汉市科技计划(2020010601012173)资助项目。

The Research of Geometric Error Modeling of Robotic Machining: II Parameter Identification and Pose Optimization

LI Wenlong, XIE He, YIN Zhouping, DING Han

State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong Universityof Science and Technology, Wuhan 430074

Received:2020-04-03 Revised:2020-11-05 Online:2021-04-05 Published:2021-05-25

摘要/Abstract

摘要： 根据所构建的空间运动链，机器人加工几何误差一方面与手眼/工件/工具位姿参数辨识误差有关，另一方面与机器人关节运动学误差与弱刚度变形有关。针对这一问题，研究基于运动学误差补偿的手眼位姿参数辨识、考虑测量缺陷影响的工件位姿参数辨识、基于实际加工曲面误差估计的工具位姿参数辨识等新方法，解决位姿参数辨识精度受限于机器人运动精度、现场测点不封闭/密度不均/高斯噪音、加工抖动/受力变形/回转轴误差等多种因素影响的问题；综合考虑关节运动学误差、弱刚度变形、误差补偿，以整体误差控制为目标，建立加工误差补偿与机器人位姿优化通用模型，可推广应用于法向深度(磨削/铣削)、切向滑移(制孔)、角度倾斜(切边)等多种机器人加工误差控制；完成手眼/工件/工具位姿参数辨识试验、整体误差补偿与机器人加工试验，验证所提方法的有效性。

关键词: 机器人加工, 位姿参数辨识, 整体误差控制, 机器人位姿优化

Abstract: According to the built spatial motion chain, the geometric error of robotic machining is not only related to the pose parameter identification errors of hand-eye/workpiece/tool, but the joint kinematic error and weak stiffness deformation of robot. This paper investigates the new methods of hand-eye pose parameter identification considering the joint kinematic error, the workpiece pose parameter identification considering the onsite measuring defects and the tool pose parameter identification based on the error evaluation of practical machined surface, and deals with the problem that the pose parameter identification accuracy is limited by various factors such as robot motion accuracy, unclosed/uneven/noisy measured points and machined jitter/stress deformation/rotation error. Then consider the joint kinematics error, weak rigidity deformation and error compensation, a general model of machining error compensation and robotic pose optimization is built, and can be applied to kinds of machining error control such as normal depth(grinding/milling), tangential slip(drilling) and angle incline (trimming). Finally, the experiments of hand-eye/workpiece/tool pose parameter identification, overall error compensation and robotic machining are carried out to verify the effectiveness of the proposed methods.

Key words: robotic machining, pose parameter identification, overall error control, robotic pose optimization

中图分类号:

TH161

李文龙, 谢核, 尹周平, 丁汉. 机器人加工几何误差建模研究：II参数辨识与位姿优化[J]. 机械工程学报, 2021, 57(7): 169-184.

LI Wenlong, XIE He, YIN Zhouping, DING Han. The Research of Geometric Error Modeling of Robotic Machining: II Parameter Identification and Pose Optimization[J]. Journal of Mechanical Engineering, 2021, 57(7): 169-184.

参考文献

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机器人加工几何误差建模研究：II参数辨识与位姿优化

The Research of Geometric Error Modeling of Robotic Machining: II Parameter Identification and Pose Optimization

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