Research On Calibration Of Robot And Positioner And Intersecting Line Workpiece

The strategic goal of "Made in China 2025" as a powerful manufacturing country puts forward comprehensive requirements for the robot industry.The spatial position of the robot and the positioner does not match the actual value in the offline programming system.The spatial position of the robot and the workpiece does not match the actual value in the offline programming system.The traditional robot and the positioner have a low efficiency of coordinated motion.Problems such as motion interference with large workpiece sizes are currently common in offline programming systems.Therefore,the calibration of the robot and the positioner,the calibration of the workpiece coordinate system,and the synchronous movement of the robot and the positioner are studied,thereby improving the ease of use and quick applicability of the offline programming system to improve these problems.This paper proposes a new self-learning five-point calibration method for robots and positioners to solve the calibration problem of robots and positioners.The method combines the advantages of the five-point calibration method and the particle swarm optimization algorithm.Firstly,the result of the five-point calibration method is used as the initial value of the evolution of the particle swarm algorithm,and then the error relationship between the joint angle value of the positioner and the calibration result of the robot positioner is established.Finally,the error value is used as a measure of particle swarm evolution to improve the accuracy of robot and positioner calibration.In this paper,a new six-point calibration method for intersecting line workpieces based on calibration fixtures is proposed to solve the problem of calibration of workpiece coordinate system of intersecting lines.In this paper,the geometrical characteristics of workpieces with rotating features are analyzed,and the calibration fixtures that avoid the theoretical error are designed,which improves the accuracy of the calibration of the intersecting line workpieces.It solves the theoretical error of the traditional calibration method when calibrating the coordinate system of rotating workpieces.In the design of robot and positioner cooperative algorithm,the whole process of robot and positioner synchronization collaborative control data is planned,which solves the traditional robot and positioner cooperative motion as the positioner active and the robot slave,and In the whole synergy cycle,there is a problem that the positioner stops waiting,and finally the efficiency of the coordinated motion is improved.At the same time,in this paper,the coordinated coordinate planning method of robot and positioner is proposed,which solves the problem that the traditional robot and positioner cooperative algorithm collides with the workpiece between the welding torch and the workpiece when machining large workpieces.Finally,in the offline programming system of the project team,the calibration of the robot and the positioner,the calibration of the workpiece coordinate system of the intersecting line,and the synchronous collaborative planning of the robot and the positioner are added.The validity of the theoretical method is verified by experiments.