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为了降低温度变化对白车身激光视觉检测系统测量结果的影响,借助安装在工业机器人基座附近的靶标球,建立基于坐标值误差的温度误差补偿模型。同时考虑到机器人结构特点,分析了连杆参数变化规律,确定存在显著变化的参数。实验结果表明,使用这种标定方法可以使机器人重复定位精度接近标称水平,明显改善了测量系统的工作稳定性,满足在线动态补偿要求。
In order to reduce the influence of temperature variation on the measurement results of the laser vision inspection system of the white body, a temperature error compensation model based on the coordinate value error is established by using the target ball installed near the base of the industrial robot. At the same time, taking into account the structural characteristics of the robot, the change law of connecting rod parameters is analyzed to determine the parameters that have significant changes. Experimental results show that using this calibration method can make robot repeat positioning accuracy close to the nominal level, which obviously improves the working stability of the measurement system and meets the requirement of online dynamic compensation.