应用李群封闭光滑特性的机器人跟踪/测量-加工一体化：II闭环控制与试验验证

doi:10.3901/JME.2025.20.016

机械工程学报 ›› 2025, Vol. 61 ›› Issue (20): 16-29.doi: 10.3901/JME.2025.20.016

• 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：II闭环控制与试验验证

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:2025-05-11 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与机器人加工。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: II Closed-loop Control and Experiment Validation

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:2025-05-11 Published:2025-12-03

摘要/Abstract

摘要： 第I部分研究了机器人-跟踪系统运动学建模与系统参数辨识方法，建立双机器人跟踪/测量-加工一体化系统同步标定模型，提出蒙皮零件光顺加工轨迹生成方法，机器人跟踪/测量-加工系统已具备较好的初始几何精度，生成可执行的机器人铣削加工轨迹。但加工机器人大范围运动时受运动学参数误差、关节转角误差、弱刚度变形、关节摩擦H、切削振动等几何非几何因素综合影响，轨迹精度一般在毫米级，未经反馈补偿的机器人加工系统难以精确加工蒙皮轮廓。为此第II部分进一步建立高精度外部跟踪系统下机器人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硬软件系统，并以外部跟踪系统±10 μm级精度为基础对机器人末端位姿进行实时跟踪与反馈补偿，最后通过双机器人同步标定精度测试、末端位姿闭环控制轨迹精度测试、蒙皮样件机器人加工精度测试等进行实际验证。

关键词: 跟踪/测量-加工一体化, 高精度外部跟踪, 末端位姿闭环反馈, 轨迹精度测试, 加工精度测试

Abstract: In Part I, the methods of kinematics modeling and system parameter identification of robot-tracking system are studied, simultaneous calibration model of dual-robot tracking/measure-machining integrated system is established, and a method of smoothing machining trajectory generation of skin parts is proposed. The robotic tracking/measure-machining system has a good initial geometric accuracy, and the executable robot milling trajectory is generated. However, when the machining robot moves in a wide range, it is affected by several geometric and non-geometric errors such as kinematic parameter error, joint angle error, weak stiffness deformation, joint friction error and cutting vibration error. Generally, the trajectory accuracy is only in the millimeter level, and the robotic machining system without feedback compensation is difficult to accurately process the skin contour. Therefore, Part II further establishes the closed-loop feedback control model of the robot’s end pose under the high-precision external tracking system, develops the corresponding hardware and software system, and achieves the real-time tracking and feedback compensation of the robot's end pose based on the ±10μm measuring accuracy originating from the external tracking system. Finally, the simultaneous calibration accuracy test of dual-robot, the trajectory accuracy test of end pose with closed-loop control, and the robotics machining accuracy test of skin samples are practically verified.

Key words: integration of tracking/measuring and machining, high-precision external tracking, end-effector closed-loop feedback, trajectory accuracy test, machining accuracy test

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：II闭环控制与试验验证[J]. 机械工程学报, 2025, 61(20): 16-29.

LI Wenlong, JIANG Cheng, XU Wei, DING Han. Integration of Robotic Tracking/Measuring-machining Applying the Closed and Smooth Properties of Lie Groups: II Closed-loop Control and Experiment Validation[J]. Journal of Mechanical Engineering, 2025, 61(20): 16-29.

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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：II闭环控制与试验验证

Integration of Robotic Tracking/Measuring-machining Applying the Closed and Smooth Properties of Lie Groups: II Closed-loop Control and Experiment Validation

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