| 瞿闻远， 吴震宇， 卢坚， 宋煜.采用激光轮廓仪的机械臂误差校准和模具位置标定[J].轻工机械,2025,43(4):62-70 |
| 采用激光轮廓仪的机械臂误差校准和模具位置标定 |
| Robotic Arm Error Calibration and Mold Position Calibration with Laser Profiler |
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| DOI：10.3969/j.issn.1005 2895.2025.04.009 |
| 中文关键词: 机械臂 校准 激光轮廓仪 点云数据 模具定位 位姿 |
| 英文关键词:robotic arm calibration laser profiler point cloud data mold positioning posture |
| 基金项目:国家自然科学基金区域发展重点项目：激光辅助热塑性复合材料构件原位铺放成形制造关键技术研究（U22A20182）。 |
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| 中文摘要: |
| 在对大型复材预制体进行加工时，传统的固定标定方式难以适应这种动态环境，进一步增加了机械臂的误差累积，导致加工的复材预制体力学性能的不稳定，课题组提出了一种采用激光轮廓仪采集点云数据对机械臂进行误差校准和模具位置标定的方法。通过安装在机械臂上的激光轮廓仪对模具上的标定球进行定位同时完成圆拟合，获得标定球球心的位姿信息；通过多次的拟合信息获得距离误差，建立误差模型；使用误差模型对机械臂控制器中的可修改参数进行直接补偿，完成机械臂的误差校准；同时通过定位多个标定球位姿，确定标定球和模具之间的几何信息，实现模具定位。通过实验验证了该方法的有效性。该方法能显著改善机械臂误差，提高模具的定位精度。 |
| 英文摘要: |
| For the processing of large scale composite preforms, the traditional fixed calibration method is difficult to adapt to the dynamic environment, which further increases the error accumulation of the manipulator and leads to the problem of instability of the mechanical properties of the processed composite preforms. The research group proposed a method of error calibration of the robotic arm and positional calibration of the mould based on the point cloud data collected by the laser profiler. The laser profiler installed on the robotic arm was used to locate the calibration ball on the mould and complete the circle fitting at the same time to obtain the position information of the calibration ball center. The distance error was obtained by the fitting information for several times, and the error model was established. The error model was used to directly compensate for the modifiable parameters in the robot arm controller to complete the error calibration of the robot arm. At the same time, the geometric information between the calibration balls and the mould was determined by positioning multiple calibration balls to achieve mould positioning. The effectiveness of the method is proved by experiments. This method can significantly reduce the robotic arm error and enhance the positioning accuracy of the mould. |
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