机器人修形磨削工具坐标系的精确标定方法

针对目前机器人修形磨削系统中接触轮姿态标定精度低影响磨削精度的问题,提出了一种实验测量的工具坐标系标定方法,姿态标定精度达0.05°.首先总结了通用静态标定法的不足之处,提出了新标定方法的构思并且理论证明了该方法的正确性.介绍了实验系统的组成,并在机器人砂带磨削系统上做了磨削实验.采集了磨削处的实验数据,分析实验数据,获得接触轮的实际偏转角,把偏转角补偿到磨削路径的工具坐标系上,最后完成了工具坐标系补偿后的重复性实验,证明了该方法的可行性和准确性.

Accurate tool calibration for robotic conformance grinding system

An experimental grinding tool calibration method was proposed to improve the accuracy of robotic belt grinding system. The accuracy of grinding tool's horizontal axis calibrated by this new method is 0.05°If the tool frame has a deflexion from the programmed pose, this deflexion is trigonometrically related to the depth difference in the grinded sample piece. After setting up the experiment system, the testing grinding experiments to magnify the deflexion were made. The experimental data on the grinded path were recorded and analyzed, after the sample piece was grinded completely by the contact wheel. The actual deflexion was obtained and the programmed tool pose was compensated to zero. To verify the accuracy and feasibility of this method, the sample piece was grinded with the compensated zero tool pose two times.