Autocorrection of work-piece pose for laser processing industrial robot systems
-
1.
National Engineering Research for Laser Processing, Huazhong University of Science and Technology, Wuhan 430074, China
-
Corresponding author:
XIAO Jinling, xjl1510@126.com
-
Received Date:
2014-03-24
Accepted Date:
2014-04-15
-
Abstract
To solve the operation deviation due to rough-localization of workpieces in a computer numberical control(CNC) machining system, the coordinates of two points on the workpiece in the actual CNC coordinate system deviating from the ideal coordinate system was detected so that the robot autocalibrate. The mathematical model of the workpiece coordinate correction, algorithm design and algorithm implementation were described. 6 sets of simulation data show that the displacement error is less than 0.01mm and angle error is less than 0.02°. The correctness of the method is verified.
-
-
References
|
[1]
|
YU G,YU H J. Integrated laser intelligent manufacturing[M]. Beijing: Metallurgical Industry Press, 2002:1-40(in Chinese). |
|
[2]
|
SONG L J,ZHANG G X,ZHAO J, et al . Analysis and realization of off-line programing system of laser welding robot[J]. Manufacturing Technology & Machine, 2008,36(12): 113-115(in Chinese). |
|
[3]
|
LIU L Y,LUO M,FANG K. Design and implementation of glue-robot for the rough-location work-piece[J]. Modular Machine Tool & Automatic Manufacturing Technique, 2010, 25(3): 63-66(in Chinese). |
|
[4]
|
LIN S Y. Welding robot and its application[M]. Beijing: Machinery Industry Press, 2000:73-80(in Chinese). |
|
[5]
|
LIU Z Y,CHEN Y L,QU D K,et al. Research on robot calibration[J]. Robot, 2002, 24(5): 447-450(in Chinese). |
|
[6]
|
ZHANG W Z,CHEN Q,SUN Z G. Quick calibration method of part coordinates for arc welding robot[J]. Transaction of the Welding Institution, 2005, 26(7): 1-4(in Chinese). |
|
[7]
|
PU Y J,QIU T,CHEN S B. Calibration of TCF parameters of arc welding robot[J]. Robot, 2001, 23(2): 109-112(in Chinese). |
|
[8]
|
MENG Y, ZHUANG H. Autonomous robot calibration using vision technology[J]. Robotics and Computer-Integrated Manufacturing, 2007, 23(4): 436-446. |
|
[9]
|
WANG D, BAI Y, ZHAO J. Autonomous robot calibration using vision technology[J]. Transactions of the Institute of Measurement and Control, 2012, 34(1): 105-121. |
|
[10]
|
CAI Z X. Robotics[M].2nd ed.Beijing: Tsinghua University Press, 2009:1-100(in Chinese). |
-
-
Proportional views
-
Map
DownLoad: