摘要
结合白车身焊装过程尺寸监控的实际需要,设计了一种基于机器人和视觉测量的在线坐标测量系统,提出利用机器人运动学模型计算坐标后进行坐标平移修正的方法,有效消除运动学模型与参数误差,充分利用机器人较高的重复定位能力,提高了测量系统精度,并且测量系统具有较高柔性,可以测量空间任意点,快速计算修正值,保证被测点的坐标精度,全面满足柔性生产线的测量需要。与三坐标测量机的比对实验证明,本系统99%测量点的测量误差小于0.4mm。
In order to improve the measurement accuracy and the flexibility,an on-line coordinate measurement system based on the robot and the vision measurement is proposed,and an effective method is presented to eliminate and correct the parameter errors of the kinematics model,which realizes the coordinate translation modification after using the robot kinematic model.This system takes full advantages of the high repetitive positioning capability,and has high accuracy and flexibility.The experimental comparisions with the results of the CMM indicate that the measuring accuracy of 99% measured points is less than 0.4mm.
出处
《光电子．激光》
EI
CAS
CSCD
北大核心
2010年第12期1817-1821,共5页
Journal of Optoelectronics·Laser
基金
国家自然科学基金资助项目(50805105)
国家"863"计划资助项目(2008AA042407)
国家自然科学基金重点资助项目(50735003)
关键词
白车身
机器人运动学模型
在线测量系统
body in white
robot kinematics model
on-line measurement system
