可重构三维测量系统在工业机器人定位误差补偿中的应用研究

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关键词：可重构；轻量化；工业机器人；克里金；误差预测补偿中图分类号：TG156 文献标识码：Adoi：10.37188/OPE.20253322.3502 CSTR：32169.14.OPE.20253322.3502

Abstract： Aiming at the insuficient absolute positioning accuracy of industrial robots and the high cost， poor portability，and diffculty in adapting to multi-scene requirements of existing high-precision measurement systems for error acquisition，an error compensation method based on a reconfigurable three-dimensional measurement system was proposed to improve the robot positioning accuracy by integrating geometric and non-geometric error factors. First，the C-TrackTM|Elite high-precision measurement system and the lightweight binocular vision system were integrated to construct a bimodal reconfigurable measurement framework，and the high-precision coordinate solving was realized by the elipse fiting and spatial position matching algorithms of the feature points and combining with the spherical fiting of the probes；then，the robot's position and distance eror models were established separately，and the particle swarm algorithm was introduced to fit the Kriging experimental variability function automatically，and the error prediction equations were constructed to realize the robot's positional accuracy in the workspace; finally，the compensation was implemented and verified by comparison. The experiments show that：the position error compensation based on the high-precision system reduces the mean value of absolute error from 0489mm to 0.1786mm ，and the accuracy is improved by 82.97% ; the mean value of error after compensation of the lightweight system is reduced from 1547mm to 0.211 9mm ，and the accuracy is improved by （204号 865% . It verifies the optimal balance between precision and cost of reconfigurable measurement system - high precision system is suitable for aerospace and other high value-added fields，lightweight system meets the precision needs of small and medium-sized enterprises，and provides a new technical path for multi-scenario precision compensation of industrial robots.

Key words： reconfigurable; lightweight; industrial robot；Kriging; error prediction compensation

1引言

在精密制造领域，工业机器人凭借高重复定位性能被广泛运用于激光切割、精密钻孔、复合焊接及表面处理等工艺[14]。（剩余24512字）