Accuracy enhancements of industrial robots through close-range photogrammetry

通过近距离摄影测量提高工业机器人的精度

• 批准号: 453163-2013
• 负责人: Bonev, Ilian
• 金额: $ 6.51万
• 依托单位: École de technologie supérieure
• 依托单位国家: 加拿大
• 项目类别: Collaborative Research and Development Grants
• 财政年份: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=597185
• 关键词: Accuracy; enhancements; industrial; robots; through

Industrial robots are highly repeatable. Once the pose of a robot's end-effector has been manually taught, the robot end-effector can move to that pose over and over again with a position error that is typically smaller than 0.050 mm. However, the accuracy of industrial robots is relatively poor. If the robot's end-effector is required to move to a pre-calculated pose (as in offline programming), its position error may reach a couple of millimetres. Fortunately, a technique known as robot calibration allows improving the accuracy of industrial robots. Calibrated industrial robots are already being used in many aerospace applications such as deburring, polishing, drilling, and fastening. However, there is still a need for reducing the cost of robot calibration and for further improving the accuracy of robots, which can be done through developing more effective calibration techniques and using affordable but well-adapted metrology equipment.

工业机器人高度可重复。一旦手动教授机器人的末端效应器的姿势，机器人最终效用器就可以一遍又一遍地移动到该姿势，而位置误差通常小于0.050 mm。但是，工业机器人的准确性相对较差。如果需要机器人的最终效果驱动器移动到预定的姿势（如在离线编程中），则其位置误差可能会达到几毫米。幸运的是，一种称为机器人校准的技术允许提高工业机器人的准确性。校准的工业机器人已经在许多航空航天应用中使用，例如毛刺，抛光，钻井和固定。但是，仍然需要降低机器人校准的成本并进一步提高机器人的准确性，这可以通过开发更有效的校准技术并使用负担得起但适应性良好的计量设备来完成。