摘要
机器人位姿检测中,全测量范围内精度和检测成本之间的平衡始终是研究人员努力的方向。激光跟踪关节臂测量系统采用激光跟踪仪和关节臂坐标机相结合的方式,利用激光光束跟踪原理,并结合关节臂高刚性高柔顺性测头,对机器人位姿进行高精度和低成本检测。实验结果表明,使用坐标测量机,通过在不同姿态下对测量系统进行验证,系统的最大误差出现在2000 mm处,为-0.042 mm。各点误差均满足±(30+0.8×10-5L)μm的技术指标。
Due to the limitation of the laser tracking technique in robot position and attitude detection, once the light is blocked, it cannot be detected. A laser tracking joint arm measurement system adopts the combination of a laser tracker and an articulated arm coordinate machine, and uses the principle of laser beam tracking and the high rigidity and flexibility probe of joint arm. It can detect and calibrate the robot’s position and attitude. A laser interferometer and a length measuring machine were used to evaluate the system in different attitudes. The experiment results showed that the maximum error of the system was -0.042 mm at 2000 mm. The error at each point did not exceed ±(30+0.8×10;L)μm.
作者
黄雷
窦艳红
樊宇
贺志超
张爽
张立秋
张博
HUANG Lei;DOU Yanhong;FAN Yu;HE Zhichao;ZHANG Shuang;ZHANG Liqiu;ZHANG Bo(Jilin Institute of Metrology,Changchun 130103,China;Changchun Institute of Technology,Changchun 130000,China)
出处
《计量科学与技术》
2022年第1期26-31,共6页
Metrology Science and Technology
基金
国家重点研发计划项目(2018YFF0212702)
吉林省科技发展计划项目(20200401107GX,20190302024GX)。
关键词
计量学
机器人位姿检测
激光跟踪仪
关节臂坐标机
坐标转换
metrology
robot position and attitude measuring
laser tracker
articulated arm coordinate machine
coordinate transformation
