面向机器人标定的单激光跟踪仪顺序多站式测量系统建模与分析

doi:10.3969/j.issn.1000-1158.2020.11.01

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Abstract To implement the accurate calibration of large serial industrial robot, a sequential multi-lateration measurement system of single laser tracker is presented. The system only needs single laser tracker to measure the end position of industrial robots in different base stations. The end position of robots is calculated based on the multilateral measurement method. Due to the distance data needed in the calculation, the measurement uncertainty of position can be effectively reduced. Firstly, the simulation model of the measurement system is established. The influence of the number of the measuring points, the distribution shape, the measuring distance and the positioning accuracy of industrial robots on the measuring accuracy of the proposed system is intensively studied. Secondly, according to the analysis results, the construction scheme of the sequential multi-station measurement system based on single laser tracker is determined. The experimental results show that the measurement error of the system is only 0.023mm at 2.5m distance, which is better than the accuracy of laser tracker. It can satisfy the measurement accuracy requirement of parameters calibration of the large serial industrial robot.

Key words： metrology laser tracker sequential multi-lateration robot calibration industrial robot

Received: 25 October 2019 Published: 02 November 2020

PACS:	TB92
	TP391.4

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	Articles by authors
	QIAO Gui-fang
	SUN Da-lin
	WEN Xiu-lan
	SONG Guang-ming
	ZHANG Ying
	SONG Ai-guo

Cite this article:

QIAO Gui-fang,SUN Da-lin,WEN Xiu-lan, et al. Modeling and Analysis of Sequential Multi-lateration Measurement System Based on Single Laser Tracker for Robot Calibration[J]. Acta Metrologica Sinica, 2020, 41(11): 1313-1320.

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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2020.11.01 OR http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2020/V41/I11/1313

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