激光加工机械手系统工件位姿自动校正的方法

详细信息

Autocorrection of work-piece pose for laser processing industrial robot systems

National Engineering Research for Laser Processing, Huazhong University of Science and Technology, Wuhan 430074, China

摘要: 为了减小在数控加工系统中工件位姿无法精确定位引起的加工误差,采用通过实时检测工件上2个点分别在实际工件坐标系下偏离理想坐标系的坐标来实现机械手自动校正的方法,阐述了工件坐标校正的数学模型、算法和算法程序设计的实现。结果表明,通过6组模拟数据得到位移误差不足0.01mm,角度误差不足0.02°,验证了该方法的正确性。
- 激光技术 /
- 坐标校正 /
- 2点法 /
- 机械手 /
- 位姿
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.
- laser technique /
- coordination correction /
- method of two points /
- robot /
- pose

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