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一种用于机器人钻孔中优化钻头位姿的方法
Alternative TitleMethod for optimizing drill bit pose in robot drill point
徐静; 陈喆2; 饶刚; 于海斌2; 陈恳; 吴丹
Department数字工厂研究室
Rights Holder清华大学 ; 中国科学院沈阳自动化研究所
Patent Agent北京清亦华知识产权代理事务所(普通合伙) 11201
Country中国
Subtype发明
Status有权
Abstract本发明提出一种用于机器人钻孔中优化钻头位姿的方法,属于机器人钻孔作业中优化调整钻头位姿的领域。该方法首先搭建基于条纹投影法和视觉伺服控制的机器人钻孔系统并进行系统参数标定,然后进行机器人钻孔作业的离线规划得到一系列路径点;在每个路径点,计算钻头在该路径点期望位姿下的相位图,设计视觉特征并推导交互矩阵和视觉伺服控制律;最后利用视觉伺服控制律对离线规划的每个路径点的钻头位姿进行优化,直到每个路径点的视觉伺服收敛完成,以提高钻头轴线与待钻孔点处的切面的垂直度,进而提高钻孔质量和表面平整度。本发明结合条纹投影轮廓测量法测量精度高和视觉伺服控制精度高的优点,能有效优化实际机器人钻孔作业中钻头的位姿。
Other AbstractThe method involves constructing a robot by a drilling system based on fringe projection and vision servo controlling function, where the drilling system includes a robot base, a robot end effector, a fixed base, a drilling device, a projector, a camera and a computer. A to-be-drilled workpiece is fixed on an optical platform by a screw thread. A coordinate of the robot base is detected. A reference matrix of a projector imaging model is calculated by camera and projector parameter calibration process. Offline planning of a robot drill point is performed. A position of a drilling point on a three-dimensional model of the to-be-drilled workpiece is detected. A path point of the robot is marked as a current path point. A pose of an expected phase diagram is detected at a current path point. Visual servo controlling function is performed until completed convergence of path points.
PCT Attributes
Application Date2019-05-27
2019-08-16
Date Available2020-06-02
Application NumberCN201910443683.0
Open (Notice) NumberCN110125455A
Language中文
Contribution Rank2
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/25591
Collection数字工厂研究室
Affiliation1.清华大学
2.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
徐静,陈喆,饶刚,等. 一种用于机器人钻孔中优化钻头位姿的方法[P]. 2019-08-16.
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