冶炼机器人位姿标定及运行可靠性

摘要

The research on the position and orientation calibration and the moving reliability of the CS-1 two-afms indus-trial robot which bas been used on the smeltting spot was made as follows. First, put forward an effective spot calibratingcalculation model and a simple and convinent calibrating method which can compensate for the error of the actual measur-hng value and calculating value of the same point by using a calibration transformation matrix. Then, reduce the robot lo-cating error and the moving error produced by geometrical parameter tolerances of the ann links simultaneously and in-crease remarkably the spot locating precision and position following precision of the robot which is in continuous path con-trol. Finally, measures are proposed to improve the spot moving reliability of robot by increasing the redundant function ofthe present hardware and setting the substitute funtion tothe sensitive electronic device, which increase the reliability de-gree of the parts which are easy to break down in hazardous working environment and then increase the operational perfor-mance of the robot%对冶炼用CS-1双臂工业机器人现场使用中的位姿标定及运行可靠性进行了研究．提出了一种简便有效的现场标定计算模型和标定方法对机器人进行位姿标定，由标定变换矩阵补偿同一测点的实际值和计算值的误差，可同时减少机器人定位误差和由臂杆几何参数偏差所引起的运动误差，显著提高需进行连续路径控制的机器人的现场定位精度和位置跟踪精度．此外，提出了用增加机器人现有硬件的冗余功能和设置敏感器件的替代功能以提高机器人现场运行可靠性的方法．实践证明，该方法能提高恶劣环境下易失效部件的可靠度，进而提高机器人的整机使用性能