| 基于多基站激光跟踪仪的机器人位姿精度测试方法 |
| The Accurate Robot Pose Measurement Based on Multi Base Station Laser Tracker |
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| 中文摘要: |
| 针对机器人末端位姿精度测试的需求，提出了基于多基站激光跟踪仪的测试方法。该方法采用三靶球测量方案，通过非线性最小二乘法求解转站参数，并融合多基站测量数据实现机器人末端位姿精度的测试。通过直线导轨和转台标准器对该方法的测试效果进行实验验证，结果显示相对于单基站激光跟踪仪的测试方法，三基站测量的定位精度提升了38.5%，定点重复精度提升了42.2%。将该多基站测试方案在型号为IRB14000的工业机器人上进行了试验，根据工业机器人性能规范及其试验方法国标（GB/T 12642），得到了机器人位姿精度的测试结果，证明了该多基站测试方案的可行性。 |
| 英文摘要: |
| In this paper, a measurement method based on multi base station laser tracker is proposed to meet the requirements of robot end-pose precision test. This method adopts the three-target measurement scheme, solves the transfer station parameters through the nonlinear least square method, and fuses the multi base station test data to realize the testing of the robots’ end pose accuracy. The measuring effect of this method is verified by experiments with linear guide rail and standard apparatus of turntable. The results show that the measurement positioning accuracy of this method is improved by 38.5% and repetitive positioning accuracy is improved by 42.2% compared with that of the single base station laser tracker. In addition, the multi base station measurement scheme is applied to test the IRB14000 robot and the measurement results of robot pose accuracy are obtained according to the national standard GB/T 12642: Industrial robots-Performance criteria and related test methods, which proved the feasibility of the method. |
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| 中文关键词: 机器人位姿测试 多基站测量 激光跟踪仪 转站精度 非线性最小二乘法 |
| 英文关键词:Robots pose testing multi-station measurement laser tracker station transfer accuracy nonlinear least squares |
| 基金项目: |
| DOI：10.11823/j.issn.1674-5795.2021.01.02 |
| 引用本文：陈章位1 ， 祖洪飞2，洪伟3，毛晨涛4.基于多基站激光跟踪仪的机器人位姿精度测试方法[J].计测技术,2021,(1):. |
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