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三维形貌测量机器人的轨迹规划技术

Trajectory Planning Technology of Three-Dimensional Shape Measurement Robots

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摘要

针对带有深孔特征的异型曲面三维形貌的测量需求,提出基于CAD(Computer Aided Design)数模提取信息进行自适应布点的方法和基于法向精度控制的轨迹规划测量方法。通过对机器人的位移-时间、速度-时间与加速度-时间曲线的仿真分析,验证了运用高阶多项式插值法可得到平滑的轨迹曲线。通过基于法向精度控制的形貌测量实验分析形貌测量过程中TCP(Tool Centror Point)的位置偏差与角度偏差,发现位置偏差小于0.092 mm,角度偏差在0.19°内,证明了所提方法的可行性。

Abstract

Aiming at the requirements of three-dimensional shape measurement of profiled surfaces with the deep hole feature, a method based on CAD (Computer Aided Design) digital model extraction information for self-adaptability measurement and a trajectory planning measurement method based on normal precision control are proposed. The simulation analysis of the displacement-time, speed-time and acceleration-time curves of a robot verifies the smoothness of the trajectory curve obtained by the high-order polynomial interpolation method. The positional deviation and angular deviation of TCP (Tool Centror Point) in the process of shape measurement are verified by the shape measurement experiment based on the normal precision control. The position deviation is within 0.092 mm and the angular deviation is within 0.19°, which proves the feasibility of the proposed method.

Newport宣传-MKS新实验室计划
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中图分类号:P243.1

DOI:10.3788/cjl201946.0204005

所属栏目:测量与计量

基金项目:吉林省科技发展计划(20160204016GX, 20180623031TC)、吉林省省级产业创新专项资金资助项目(2016C088,2017C045-2)、长春理工大学青年科学基金(XQNJJ-2016-04,XQNJJ-2017-11)、吉林省教育厅“十三五”科学技术项目(JJKH20170626KJ)

收稿日期:2018-09-10

修改稿日期:2018-10-02

网络出版日期:2018-10-24

作者单位    点击查看

刘丽:长春理工大学机电工程学院, 吉林 长春 130022
马国庆:长春理工大学机电工程学院, 吉林 长春 130022
高艺:长春理工大学机电工程学院, 吉林 长春 130022
范师杰:长春理工大学机电工程学院, 吉林 长春 130022

联系人作者:高艺(magq@cust.edu.cn)

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引用该论文

Liu Li,Ma Guoqing,Gao Yi,Fan Shijie. Trajectory Planning Technology of Three-Dimensional Shape Measurement Robots[J]. Chinese Journal of Lasers, 2019, 46(2): 0204005

刘丽,马国庆,高艺,范师杰. 三维形貌测量机器人的轨迹规划技术[J]. 中国激光, 2019, 46(2): 0204005

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