| Because a flexible measurement system which is consisted of the industrial robot and vision sensor has the advantages of fast speed,good flexibility and reliability,it is widely used in many vehicle production line, it also has become an important means of guarantee of quality and production efficiency in automatic production line.By analyzing the robot model error, parameter error, the impact of changes in the measurement environment, the accuracy of current practical measurement system is only to±0.3mm. To improve the measurement system’s accuracy, this paper proposes a method that coordinates translation correction after calculating coordinates according to robot kinematics model, it effectively reduces the calibration work in the field. To improve the measurement system’s accuracy further, the paper also proposes a method that positioning robot end using global space control, it abandons the robot model positioning method, the accuracy is greatly improved.The main research are as follows:1、Analysis the robot on-line measurement system’s status and the bottlenecks in existing technology, study the robot kinematics model (D-H model) from the principle in-depth, and study the theoretical derivation of robot kinematics and inverse kinematics solution;2、Propose a method that coordinates translation correction after calculating coordinates according to robot kinematics model, and derive the feasibility of model compensation method from the theory, the experiment results verify the correctness of the method.3、Present a on-line measurement system based on the global spatial localization , introduce the structure and principle of the measuring system, study of visual measurement technique, camera calibration technique, image template matching technique,optical control point extraction technique;4、Design and implement of the key technology experiment, having obtained a more ideal result, verify the feasibility and reliability of this system. |
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