The Development Of Control System Measurement Robot

With the development of production and technology, non-orthogonal coordinate system is demanded in more and more fields. New type of robotic measuring machine, which combines advanced robotic technology and measuring technology, is one of the development trends of coordinate measuring machine (CMM). Having advantage of simple framework and powerful software, robotic measuring machine is hi-tech electromechanical equipment. It can be seen that the shortcoming of traditional CMM can be compensated. Thus it expands application fields of CMM.Based on the theory of coordinate measuring technique, non-contact measuring robot system with 4~D is developed in this thesis that combined advanced robot control technology with non-contact laser measure technique. Mechanism and control system of the measuring machine are decided according to measuring requirements. Simulation and experiment results prove that the measuring machine achieves the design aim.There are several innovations in design of mechanism, design of control system and conceive of measuring method. We spurn conventional mechanism of CMM and design a new non-contact and non-orthogonal CMM based on robotic technology. Control system adopt master/slave control mode and a multi-axis motion control device based on DSP is employed to improve its real-time property and stability. And line grating is used to measure arc length in order to increase angle measuring precision, thus high differentiate locating in space can be realized. At the same time CCD pickup camera and laser sensor are combined to meet the high efficiency and high accurateness requirements of this non-contact measure.