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Machining process-oriented mobile robot system calibration method and system

A mobile robot, system calibration technology, applied in the direction of comprehensive factory control, general control system, control/regulation system, etc., can solve problems such as inability to meet on-site processing

Active Publication Date: 2020-07-03
BEIJING SATELLITE MFG FACTORY
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AI Technical Summary

Problems solved by technology

The reference coordinates of the system are constantly changing during the working process. The traditional kinematic parameter calibration method and transformation matrix calibration method cannot meet the needs of on-site processing. Therefore, a process-oriented mobile robot system calibration method is provided.

Method used

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  • Machining process-oriented mobile robot system calibration method and system
  • Machining process-oriented mobile robot system calibration method and system
  • Machining process-oriented mobile robot system calibration method and system

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Embodiment Construction

[0078] Such as figure 1 As shown, the processing-oriented mobile robot system includes 840Dsl control cabinet, omnidirectional mobile platform, robot, processing tool, stable support, laser tracker, workpiece to be processed, etc. Around the mobile robot system, define the omnidirectional mobile platform coordinate system, the robot base coordinate system, the robot end flange coordinate system and the workpiece coordinate system.

[0079] Such as image 3 As shown, a process-oriented mobile robot system calibration method proposed by the present invention includes the following steps:

[0080] (1) Construct different coordinate systems based on laser tracker measurement;

[0081] The laser tracker is used to establish the coordinate system of the omnidirectional mobile platform, the base coordinate system of the robot, the coordinate system of the end flange of the robot and the coordinate system of the workpiece to be processed;

[0082] Such as figure 2 As shown, speci...

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Abstract

The invention discloses a machining process-oriented mobile robot system calibration method and system. The method comprises steps of constructing different coordinate systems based on a laser tracker; constructing an omni-directional moving platform coordinate system, a robot base coordinate system, a robot tail end flange coordinate system and a to-be-machined workpiece coordinate system througha laser tracker; performing robot kinematics parameter identification based on the laser tracker; measuring target points of a robot under different poses through the laser tracker, establishing a kinematics parameter model, and identifying kinematics parameters; calibrating the motion pose of the robot; correcting the operation parameters of the robot by adopting the calibrated motion parametersso as to calibrate the motion pose of the robot; moving the robot to different stations; performing coordinate system conversion relation calibration based on the laser tracker; measuring a space point target point through the laser tracker, and adopting an improved weighted singular value decomposition algorithm to realize calibration of the coordinate system conversion relationship; performinga machining program, and guaranteeing the correct mobile robot machining process.

Description

technical field [0001] The invention relates to a process-oriented mobile robot system calibration method and system, which is oriented to the high-precision local processing process of large complex components and the high-precision, high-flexibility mobile processing robot system. Background technique [0002] Modern manufacturing technology based on mobile robot systems has developed extremely rapidly around the world in recent years, especially in the heavy and high-end equipment manufacturing industry. The U.S. Water Aircraft Company has developed a robotic drilling and milling system to complete the drilling and milling of the inner flaps of the Boeing 737. A mobile robot developed by the Fraunhofer Society in Germany is used in the machining of aircraft wings. KUKA has developed an omnidirectional blade grinding robot. Zhejiang University has developed mobile processing robot equipment suitable for drilling and riveting of aircraft fuselage, and through the integrat...

Claims

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Application Information

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IPC IPC(8): G05B19/404
CPCG05B19/404G05B2219/31434Y02P90/02
Inventor 张加波赵长喜周莹皓文科乐毅杨继之於陈程
Owner BEIJING SATELLITE MFG FACTORY
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