摘要
将机器人三维扫描系统应用到工业加工中,建立了机器人在线测量加工系统.利用已知半径的标准球体作为参照工具,提出一种基于几何约束的非线性优化方法.在线精确地标定了便携式三维扫描系统和机器人的位姿关系,提高了测量精度.同时,提出一种使用虚拟刀具工具中心点和预补偿机器人系统误差的方法,提高了机器人的加工精度.对吉他的边缘进行扫描和加工的实验结果表明:该系统具有稳定、高精度、易于自动化等优点.
An on-line robot measurement and machining system is constructed thanks to the application of robot scanning system in industrial machining. By using a sphere with known diameter as calibration object, a new online approach based on nonlinear least squares optimization with geometry constraints is proposed to calibrate the pose of the portable scanner relative to the robot. Meanwhile, a new approach is also proposed to increase the machining accuracy by using virtual knife tool center point （TCP） together with a technique of robot system error pre-compensation. The experiment of scanning and machining the edge of a guitar is given to demonstrate the good stability, high precision, and high degree of automatization of our system.
出处
《计算机辅助设计与图形学学报》
EI
CSCD
北大核心
2007年第8期1069-1074,共6页
Journal of Computer-Aided Design & Computer Graphics
