CN106112505B - Double-shaft-and-hole assembly system and its control method - Google Patents

Double-shaft-and-hole assembly system and its control method Download PDF

Info

Publication number
CN106112505B
CN106112505B CN201610519794.1A CN201610519794A CN106112505B CN 106112505 B CN106112505 B CN 106112505B CN 201610519794 A CN201610519794 A CN 201610519794A CN 106112505 B CN106112505 B CN 106112505B
Authority
CN
China
Prior art keywords
coordinate
mechanical arm
workpiece
diplopore
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610519794.1A
Other languages
Chinese (zh)
Other versions
CN106112505A (en
Inventor
徐静
张贶恩
陈恳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Original Assignee
Tsinghua University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsinghua University filed Critical Tsinghua University
Priority to CN201610519794.1A priority Critical patent/CN106112505B/en
Publication of CN106112505A publication Critical patent/CN106112505A/en
Application granted granted Critical
Publication of CN106112505B publication Critical patent/CN106112505B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10Aligning parts to be fitted together
    • B23P19/12Alignment of parts for insertion into bores

Abstract

The present invention provides a kind of Double-shaft-and-hole assembly system and its control method, Double-shaft-and-hole assembly system includes:Pedestal;Mechanical arm;Laser tracking measurement instrument;Sensor senses contact force and contact torque in Double-shaft-and-hole assembling process between each axis and the corresponding aperture of diplopore workpiece of twin shaft workpiece in real time;And upper computer control system, it is electrically connected to mechanical arm, and be communicatively coupled to the contact force of sensor and receiving sensor transmission and the data of contact torque with real time management manipulator motion.In Double-shaft-and-hole assembly system according to the present invention, the pose for twin shaft workpiece, diplopore workpiece and the mechanical arm tail end that upper computer control system is measured based on the self-calibration program inside mechanical arm, laser tracking measurement instrument completes the preliminary alignment of twin shaft workpiece and diplopore workpiece, and it is based further on the communication partner of sensor with real time management manipulator motion, and then complete the assembly of twin shaft workpiece and diplopore workpiece, its assembly precision is high, stability is good, applied widely.

Description

Double-shaft-and-hole assembly system and its control method
Technical field
The present invention relates to large-scale more shaft hole part assembly fields more particularly to a kind of Double-shaft-and-hole assembly systems and its controlling party Method.
Background technology
In production manufacturing process, assembling work is very important link, which will directly affect final production Quality.According to statistics, in the entire manufacture work of mechanical electric subclass product, assembly work amount accounts for 20%~70%, assembly Expense has also accounted for the 1/3~1/2 of totle drilling cost.There are many assembling link at present in industry or completed by assembler, still Manual assembly is of high cost there are many problems, such as efficiency are low, and operation requires high, but also is easy to happen safety accident. Particularly with the assembly of large-scale workpiece, workpiece is too heavy, and manual assembly is very inconvenient.In this context, it can carry out automatic The robot of assembly is just particularly important.Compared to manual assembly, the applicable range of robot is wider, is particularly suitable for heavy type Assembly under the particular surroundings such as workpiece.
It is found by being investigated to published document, patent and industrial products, robotic asssembly mainly may be used two kinds Mode, one is the assembly method of view-based access control model servo, visual servo is by acquiring image and being compared, to judge this When workpiece pose, and will determine that result feeds back to a kind of method that mechanical arm is adjusted.However Visual servoing control is mechanical There is also following deficiencies for the method for arm progress automatic assembling:(1) Visual servoing control can not accurately control connecing for assembly workpiece Touch size, it is possible to serious collide with so that disfiguring workpiece occur;(2) it there are when partial occlusion and characteristic point unobvious, makes The problem of judging error at pose or can not judge.
Another assembly method is the assembly felt based on power, and the power for also becoming robot controls.Power control can be divided into It is controlled by dynamic Control and active force.It is the submissive end joint of design by dynamic Control, helps workpiece not exclusively accurate in position Assembly is completed in the case of really.Active force control is measured in real time robot end's stress using force snesor, By comparing reference load and true power, current contact situation is judged, control machinery arm is used to reduce contact force, so as to Preferably complete assembly.However existing power control assembly method also has following Railway Project:(1) soft by power-control method It along limitation, and needs to design different submissive mechanical devices for different workpiece, appropriate is limited.And it is because flexible Device free space is too big, it has not been convenient to accurately control;(2) existing active force control assembly method is primarily adapted for use in uniaxial hole Assembly is seldom suitable for multi peg-in-hole, and the method without finding to be suitable for flexible multi peg-in-hole.For large-scale work Part, such as aircraft, the workpiece such as automobile, the big quality of volume is high, itself can cause to deform because of the effects that gravity, thus cannot be complete It is considered as rigid body entirely, and the assembly of these large-scale workpieces is mainly multi peg-in-hole, it is therefore desirable to the assembly to flexible multiaxis hole Method is studied.
Invention content
The problem of in view of background technology, the purpose of the present invention is to provide a kind of Double-shaft-and-hole assembly system and its controls Method processed, applied widely, assembly precision is high, and stability is good.
To achieve the goals above, in a first aspect, the present invention provides a kind of Double-shaft-and-hole assembly system, being used for will be double Shaft-like work is assemblied in diplopore workpiece, including:Pedestal;Mechanical arm is fixed on pedestal and is fixedly connected with twin shaft workpiece;Laser with Track measuring instrument measures the pose of twin shaft workpiece, diplopore workpiece and mechanical arm tail end;Sensor senses Double-shaft-and-hole assembly in real time Contact force between each axis and the corresponding aperture of diplopore workpiece of twin shaft workpiece and contact torque in the process;And PC control system System, is electrically connected to mechanical arm, and is communicatively coupled to the data of the contact force and contact torque of sensor and receiving sensor transmission With real time management manipulator motion.
To achieve the goals above, in second aspect, the present invention provides a kind of control method of Double-shaft-and-hole assembly system, It is used to control the Double-shaft-and-hole assembly system described in first aspect present invention, including step S1, S2, S3, S4, S5 and S6.
S1, determine twin shaft workpiece mechanical arm tail end centre coordinate system transition matrix Tt p, diplopore workpiece is in mechanical arm base The transition matrix of seat coordinate systemAnd twin shaft workpiece is in the transition matrix of mechanical arm base coordinate systemIncluding step:S11, Using laser tracking measurement instrument, under laser tracking measurement instrument coordinate system, the three-dimensional in the twin shaft bottom surface center of circle of twin shaft workpiece is measured Coordinate is respectively (Xplm, Yplm, Zplm)、(Xprm, Yprm, Zprm), the normal vector of twin shaft bottom surface is (Xpnm, Ypnm, Zpnm), diplopore work The three-dimensional coordinate in the diplopore top surface center of circle of part (H) is respectively (Xhlm, Yhlm, Zhlm)、(Xhrm, Yhrm, Zhrm), the normal direction of diplopore top surface Amount is (Xhnm, Yhnm, Zhnm), the three-dimensional coordinate at the center of mechanical arm tail end is (Xtm, Ytm, Ztm);S12 establishes biaxial coordinates system With diplopore coordinate system, and calculate laser tracking measurement instrument coordinate system to biaxial coordinates system transition matrixIt is tracked with laser Transition matrix of the measuring instrument coordinate system to diplopore coordinate systemS13, mechanical arm read the center of mechanical arm tail end in machinery automatically Three-dimensional coordinate (X under arm base coordinate systemtw, Ytw, Ztw) and Eulerian angles (EX, EY, EZ), and calculate mechanical arm tail end center Transition matrix of the coordinate system to mechanical arm base coordinate systemWith laser tracking measurement instrument coordinate system to mechanical arm base coordinate system Transition matrixS14 is acquired according to step S12It is acquired with S13WithIt respectively obtainsWithExpression formula, i.e.,:
S2, upper computer control system initialization check whether all the sensors work normally and sensor and host computer It whether normally to be communicated between control system, and back to zero calibration is carried out to sensor.
S3 manipulates mechanical arm to adjust the relative position of axis hole in real time by upper computer control system, including step S31, S32 and S33.
S31, adjustment mechanical arm is so that biaxial coordinates system and diplopore coordinate system are tentatively aligned, at this timeWithIn in addition to right Other values are equal except answering the Z coordinate value of origin unequal, alignment front mechanical arm distal center coordinate system to mechanical arm pedestal The transition matrix of coordinate system isTransition matrix of the twin shaft workpiece coordinate system to mechanical arm base coordinate systemIt is adjusted right to enable The transition matrix of mechanical arm tail end centre coordinate system to mechanical arm base coordinate system after neat isAfter adjusted alignment The transition matrix of twin shaft workpiece coordinate system to mechanical arm base coordinate system be
S32, according in S31Initial value, calculate adjustment afterIf before and after adjustment alignment The transformation matrices of biaxial coordinates system to the transition matrix of mechanical arm base coordinate system are dT, mechanical arm tail end centre coordinate system to machine The transformation matrices of the transition matrix of tool arm base coordinate system are dT2, and calculating process is:
S33, according to what is obtained in S32The center of mechanical arm tail end after adjusting is calculated in mechanical arm pedestal coordinate Three-dimensional coordinate (X in systemtw2, Ytw2, Ztw2) and Eulerian angles (EX2, EY2, EZ2), solution formula be:
The three-dimensional coordinate that the center of mechanical arm tail end is adjusted to obtain in step S33 is by S4, upper computer control system (Xtw2, Ytw2, Ztw2), Eulerian angles be (EX2, EY2, EZ2) pose, complete axis hole alignment.
S5, upper computer control system are sat using incremental P control methods and the position feedback based on twin shaft workpiece and twin shaft The Z coordinate value of mark system origin and the size of the difference of the Z coordinate value of diplopore coordinate origin manipulate manipulator motion, so that twin shaft work Part is vertically lowered, gradually it is close with diplopore workpiece, until contacting.
S6, upper computer control system uses impedance adjustment and the Double-shaft-and-hole sensed in real time based on sensor was assembled Contact force and contact torque in journey between each axis and the corresponding aperture of diplopore workpiece of twin shaft workpiece manipulate manipulator motion, with Twin shaft workpiece is set to continue to decline until fully mated with diplopore workpiece.
Beneficial effects of the present invention are as follows:
In Double-shaft-and-hole assembly system according to the present invention, upper computer control system is based on the self-calibration journey inside mechanical arm The pose of twin shaft workpiece, diplopore workpiece and the mechanical arm tail end that sequence, laser tracking measurement instrument are measured complete twin shaft workpiece and The preliminary alignment of diplopore workpiece, and be based further on the communication partner of sensor with real time management manipulator motion, and then it is complete The assembly of shaft-like work and diplopore workpiece in pairs, assembly precision is high, and stability is good, applied widely.
Description of the drawings
Fig. 1 is the whole installation diagram of Double-shaft-and-hole assembly system according to the present invention;
Fig. 2 to Fig. 5 is the mistake of the control method control Double-shaft-and-hole assembly system of Double-shaft-and-hole assembly system according to the present invention Journey schematic diagram, wherein Fig. 2 are the position views that twin shaft workpiece P is installed on before diplopore workpiece H, Fig. 3 be twin shaft workpiece P with it is double Position view when hole workpiece H installation and when twin shaft workpiece P is aligned with diplopore workpiece H, Fig. 4 be twin shaft workpiece P move down and with Position view when the H contacts of diplopore workpiece, Fig. 5 are schematic diagrames when twin shaft workpiece P and diplopore workpiece H is assembled completely;
Fig. 6 is the transformational relation signal of each coordinate system in the control method of Double-shaft-and-hole assembly system according to the present invention Figure;
Fig. 7 is the control stream of the incremental P control methods in the control method of Double-shaft-and-hole assembly system according to the present invention Cheng Tu;
Fig. 8 is the control flow of the impedance adjustment in the control method of Double-shaft-and-hole assembly system according to the present invention Figure.
Wherein, the reference numerals are as follows:
W pedestal P1 axis
T mechanical arm P2 connecting plates
M laser tracking measurement instrument H diplopore workpiece
The holes sensor H1
C upper computer control system H2 bottom plates
P twin shaft workpiece
Specific implementation mode
It is described in detail Double-shaft-and-hole assembly system and its control method according to the present invention with reference to the accompanying drawings.
Illustrate the Double-shaft-and-hole assembly system of first aspect present invention first.
Referring to Fig.1, Double-shaft-and-hole assembly system according to the present invention is wrapped for twin shaft workpiece P to be assemblied in diplopore workpiece H It includes:Pedestal W;Mechanical arm T (interior to be equipped with self-calibration program), is fixed on pedestal W and is fixedly connected with twin shaft workpiece P;Laser tracks Measuring instrument M measures the pose of twin shaft workpiece P, diplopore workpiece H and mechanical arm tail end T1;Sensor S, senses Double-shaft-and-hole in real time Contact force in assembling process between each axis P1 and the corresponding aperture H1 of diplopore workpiece H of twin shaft workpiece P and contact torque;On and Position machine control system C, is electrically connected to mechanical arm T, and be communicatively coupled to sensor S and receiving sensor S transport contact force and The data of torque are contacted to move with real time management mechanical arm T.
In Double-shaft-and-hole assembly system according to the present invention, upper computer control system C is based on the self-calibration inside mechanical arm T The pose for twin shaft workpiece P, diplopore workpiece H and the mechanical arm tail end T1 that program, laser tracking measurement instrument M are measured is completed double The preliminary alignment of shaft-like work P and diplopore workpiece H, and be based further on the communication partner of sensor S with real time management mechanical arm T Movement, and then the assembly of twin shaft workpiece P and diplopore workpiece H are completed, assembly precision is high, and stability is good, applied widely.
In Double-shaft-and-hole assembly system according to the present invention, twin shaft workpiece P is connected including two axis P1 with by two axis P1 The connecting plate P2 being integrated.Twin shaft workpiece P can be rigid workpiece or flexible workpiece.
In Double-shaft-and-hole assembly system according to the present invention, diplopore workpiece H includes two hole H1 and is used to that two holes to be arranged The bottom plate H2 of H1.Diplopore workpiece H can be rigid workpiece or flexible workpiece.
It remarks additionally herein, the pose of mechanical arm tail end T1 refers specifically to mechanical arm tail end T1 in the present invention Center position coordinates.The position of diplopore workpiece H should be within the motion range of mechanical arm tail end T1.
Double-shaft-and-hole assembly system according to the present invention, in one embodiment, sensor S can be force snesor.
Secondly the control method of the Double-shaft-and-hole assembly system of explanation according to a second aspect of the present invention.
With reference to Fig. 2 to Fig. 8, the control method of Double-shaft-and-hole assembly system is used to control the twin shaft described in first aspect present invention Hole assembly system, including step S1, S2, S3, S4, S5 and S6.
S1, with reference to Fig. 6, determine twin shaft workpiece P mechanical arm tail end centre coordinate system transition matrix Tt p, diplopore workpiece H In the transition matrix of mechanical arm base coordinate systemAnd twin shaft workpiece P is in the transition matrix of mechanical arm base coordinate systemPacket Include step:S11 under laser tracking measurement instrument coordinate system, measures two in twin shaft workpiece P using laser tracking measurement instrument M The three-dimensional coordinate in the bottom surface center of circle of axis P1 is respectively (Xplm, Yplm, Zplm)、(Xprm, Yprm, Zprm), the normal vector of twin shaft bottom surface is (Xpnm, Ypnm, Zpnm), the three-dimensional coordinate in the diplopore top surface center of circle of diplopore workpiece H is respectively (Xhlm, Yhlm, Zhlm)、(Xhrm, Yhrm, Zhrm), the normal vector of diplopore top surface is (Xhnm, Yhnm, Zhnm), the three-dimensional coordinate at the center of mechanical arm tail end T1 is (Xtm, Ytm, Ztm);S12 establishes biaxial coordinates system and diplopore coordinate system, and calculates laser tracking measurement instrument coordinate system to biaxial coordinates system Transition matrixWith laser tracking measurement instrument coordinate system to the transition matrix of diplopore coordinate systemS13, mechanical arm T are read automatically Take three-dimensional coordinate (X of the center of mechanical arm tail end T1 under mechanical arm base coordinate systemtw, Ytw, Ztw) and Eulerian angles (EX, EY, EZ), and calculate mechanical arm tail end centre coordinate system to mechanical arm base coordinate system transition matrixAnd laser tracking measurement Transition matrix of the instrument coordinate system to mechanical arm base coordinate systemS14 is acquired according to step S12It is asked with S13 WithRespectively obtain Tt pWithExpression formula, i.e.,:
Wherein,ForInverse matrix,ForInverse matrix.
It remarks additionally herein, " mechanical arm T is read (the self-calibration program based on inside setting) automatically " belongs to machine Tool arm T carries function, belongs to common knowledge.
S2, upper computer control system C initialization, check all the sensors S whether work normally and sensor S with it is upper It whether normally to be communicated between machine control system C, and back to zero calibration is carried out to sensor S.
S3 manipulates mechanical arm T to adjust the relative position of axis hole, including step in real time by upper computer control system C S31, S32 and S33.
S31, mechanical arm T is so that biaxial coordinates system and diplopore coordinate system are tentatively aligned (the i.e. origin of biaxial coordinates system for adjustment With the line of the origin of diplopore coordinate system perpendicular to diplopore top surface), can be at this time reference with mechanical arm base coordinate system, then In in addition to biaxial coordinates system origin Z coordinate value withIn diplopore coordinate system origin Z coordinate value it is unequal except,WithIn other values be equal.Conversion square of the alignment front mechanical arm distal center coordinate system to mechanical arm base coordinate system Battle array beTransition matrix of the twin shaft workpiece P coordinate systems to mechanical arm base coordinate systemEnable the machinery after adjusted alignment The transition matrix of arm distal center coordinate system to mechanical arm base coordinate system isTwin shaft workpiece P after adjusted alignment is sat Mark system is to the transition matrix of mechanical arm base coordinate system
S32, according in S31Initial value, calculate adjustment afterIf before and after adjustment alignment The transformation matrices of biaxial coordinates system to the transition matrix of mechanical arm base coordinate system are dT, mechanical arm tail end centre coordinate system to machine The transformation matrices of the transition matrix of tool arm base coordinate system are dT2, and calculating process is:
Wherein,For Tt pInverse matrix,ForInverse matrix.
Remark additionally herein, twin shaft workpiece P and diplopore workpiece H collide in order to prevent, biaxial coordinates system and Diplopore coordinate system will not move down always in preliminary alignment operation, i.e.,Wherein,It indicatesIn The third line the 4th arrange value (i.e. alignment adjustment before biaxial coordinates system origin Z coordinate value),It indicatesIn The third line the 4th arrange value (i.e. alignment adjustment after biaxial coordinates system origin Z coordinate value).
S33, according to what is obtained in S32The center for calculating mechanical arm tail end T1 after adjusting is sat in mechanical arm pedestal Three-dimensional coordinate (X in mark systemtw2, Ytw2, Ztw2) and Eulerian angles (EX2, EY2, EZ2), solution formula be:
The three-dimensional coordinate that the center of mechanical arm tail end T1 is adjusted to obtain in step S33 is by S4, upper computer control system C (Xtw2, Ytw2, Ztw2), Eulerian angles be (EX2, EY2, EZ2) pose, complete axis hole alignment (as shown in Figure 3).
S5, with reference to Fig. 3, Fig. 4 and Fig. 7, upper computer control system C is using incremental P control methods and is based on twin shaft workpiece P Position feedback and biaxial coordinates system origin Z coordinate value and diplopore coordinate origin Z coordinate value size of the difference manipulate machine Tool arm T movement so that twin shaft workpiece P be vertically lowered, gradually it is close with diplopore workpiece H, until contacting (as shown in Figure 4), at this time Z coordinate value of the origin of biaxial coordinates system under mechanical arm base coordinate system is Z0(being preset as 100mm).
S6, with reference to Fig. 4, Fig. 5 and Fig. 8, upper computer control system C is using impedance adjustment and real-time based on sensor S Contact force in the Double-shaft-and-hole assembling process sensed between each axis P1 and the corresponding aperture H1 of diplopore workpiece H of twin shaft workpiece P with And contact torque manipulates mechanical arm T movements, so that twin shaft workpiece P continues to decline until fully mated with diplopore workpiece H.
The control method of Double-shaft-and-hole assembly system according to the present invention can be connected in step s 12 with the twin shaft bottom surface center of circle The center of line is origin, line YpAxis, twin shaft workpiece (P) connecting plate (P2) normal vector be ZpAxis, by YpMultiplication cross ZpAxis Obtain XpAxis establishes biaxial coordinates system (as shown in Figure 1), and the origin that laser tracking measurement instrument M measures biaxial coordinates system is used in combination to swash Three-dimensional coordinate O under light tracking measurement instrument coordinate systemp, then the transformational relation of laser tracking measurement instrument coordinate system and biaxial coordinates system It is as follows:
It can be using the center of diplopore top surface circle center line connecting as origin, line YhThe normal direction of plane where axis, diplopore top surface Amount is ZhAxis, by YhMultiplication cross ZhAxis obtains XhAxis establishes diplopore coordinate system (as shown in Figure 1), and laser tracking measurement instrument M is used in combination to measure Three-dimensional coordinate O of the origin of diplopore coordinate system under laser tracking measurement instrument coordinate systemh, then laser tracking measurement instrument coordinate system with The transformational relation of diplopore coordinate system is as follows:
In step s 13, transition matrix of the mechanical arm tail end centre coordinate system to mechanical arm base coordinate systemCalculating Formula is:
Transition matrix of the laser tracking measurement instrument coordinate system to mechanical arm base coordinate systemCalculation formula be:
That is,
The control method of Double-shaft-and-hole assembly system according to the present invention is arranged in upper computer control system C in step s 5 The contact force threshold for having vertical direction, it is upper after the contact force when twin shaft workpiece P and diplopore workpiece H is contacted reaches the threshold value Machine control system C control twin shaft workpiece P stops declining.The threshold value for the contact force being arranged in usual upper computer control system C can be 1N~3N, but not only limit in this way, the threshold value of the contact force can be according to the different degrees of flexibility of twin shaft workpiece P and diplopore workpiece H (or rigidity) is suitably adjusted.
The control method of Double-shaft-and-hole assembly system according to the present invention, in step s 5, with reference to Fig. 7, incremental P controlling parties The algorithm of method is:
P1, transition matrix of the mechanical arm base coordinate system to biaxial coordinates system during calculating kth time recyclesAnd it is double at this time The difference of the Z coordinate value of axis coordinate system origin and the Z coordinate value of diplopore coordinate origin, i.e.,:
Wherein,Indicate the Z coordinate value of the origin of diplopore coordinate system,Indicate the origin of biaxial coordinates system Z coordinate value;
P2, the amount of moving down of biaxial coordinates system origin is dZ during kth time recyclesk, since incremental P controls are that ratio controls, Then dZk=Kpezk, calculate the three-dimensional coordinate (X at the center of mechanical arm tail end T1 in+1 cycle of kthtw(k+1), Ytw(k+1), Ztw(k+1)), i.e.,:
(Xtw(k+1),Ytw(k+1),Ztw(k+1))=(Xtwk,Ytwk,Ztwk+dZk)
Wherein KpIt indicates scale factor, and is a constant.
It remarks additionally herein, the control process of incremental P control methods is:Kth time cycle is measured into obtained Z (k) value and Z0Value is (above-mentioned to have set Z0=100mm) it is compared, when Z (k) values are more than Z0When, illustrate that axis P1 is not moved down also at this time To designated position, therefore site error ezkFor negative value, at this time multiplied by with Proportional coefficient KpObtained positional increment dZkAlso it is negative Value, axis P1 will continue to decline (otherwise explanation moves down excessively, and positional increment is just just that axis P1 will be shifted up) and then carry out kth + 1 cycle.Wherein, k round numbers.
In one embodiment, Kp=0.9.
The control method of Double-shaft-and-hole assembly system according to the present invention, during incremental P control loops, when twin shaft is sat Difference (the i.e. dZ of the Z coordinate value of mark system origin and the Z coordinate value of diplopore coordinate origink=Ztw(k+1)-Ztwk) it is less than 0.001mm When, cycle stops.
The control method of Double-shaft-and-hole assembly system according to the present invention, in step s 6, with reference to Fig. 8, impedance adjustment Algorithm be:
K1, setting relevant parameter (parameter can be adjusted with the specific experiment of operator), Kp=0.02, Kd= 0.002, Kv=5, [Fx0,Fy0,Fz0]=[5,10,20] (N), [Mx0,My0,Mz0]=[0,0,0] ((Nm), ZC=-5mm, Middle KpFor the scale factor in impedance control, KdFor the differential parameter in impedance control, KvFor the damping ginseng in resistance impedance control Number, [Fx0,Fy0,Fz0] it is contact force reference value, [Mx0,My0,Mz0] it is contact torque reference value, ZCFor in mechanical arm tail end T1 The total amount of moving down of the Z coordinate of the heart;
K2 is respectively [F by the collected contact forces of force snesor S and contact torque in kth time cyclexk,Fyk, Fzk]、[Mxk,Myk,Mzk], i.e.,:
Fk=[Fxk,Fyk,Fzk,Mxk,Myk,Mzk]
dFk=[Fx0-Fxk,Fy0-Fyk,Fz0-Fzk,Mx0-Mxk,My0-Myk,Mz0-Mzk]
Wherein, FkFor the six-dimensional force that contact force in kth time cycle and contact torque are constituted, dFkJoin for contact force and contact force Examine the difference of value and the six-dimensional force of contact torque and the difference composition for contacting torque reference value;
K3 is calculated in kth time cycle and is needed the pose adjusted, i.e. the origin translation amount of mechanical arm tail end centre coordinate system (dXk,dYk,dZk) and each reference axis amount of spin, calculation formula is:
Wherein, dXkTranslational movement, dY of the origin of mechanical arm tail end centre coordinate system in X-direction in being recycled for kth timekIt is Translational movement, the dZ of the origin of mechanical arm tail end centre coordinate system in the Y direction in k cyclekFor mechanical arm tail end in kth time cycle Translational movement, d θ of the origin of centre coordinate system in Z-directionxkBe in kth time cycle mechanical arm tail end centre coordinate system around X-coordinate axle Amount of spin, d θykFor amount of spin, d θ of the mechanical arm tail end centre coordinate system around Y-coordinate axle in kth time cyclezkIt is followed for kth time Mechanical arm tail end centre coordinate system is around the amount of spin of Z coordinate axis, dX in ringk-1It is sat for mechanical arm tail end center in -1 cycle of kth Mark translational movement, dY of the origin of system in X-directionk-1For mechanical arm tail end centre coordinate system in the cycle of kth -1 time origin in the side Y To translational movement, dZk-1For mechanical arm tail end centre coordinate system in the cycle of kth -1 time origin in the translational movement of Z-direction, dFkFor The 6 DOF that the difference and contact torque of contact force and contact force reference value are constituted with the difference for contacting torque reference value in kth time cycle Power, dFk-1For the difference and contact torque and contact torque reference value of contact force in -1 cycle of kth and contact force reference value The six-dimensional force that difference is constituted, dFk-2For contact force in the cycle of kth -2 times and contact force reference value difference and contact torque and contact The six-dimensional force that the difference of torque reference value is constituted, VZkTwin shaft workpiece P's moves down speed in being recycled for kth time.dFk(1) it is dFkExpression First value in formula, dFk(2) it is dFkSecond value in expression formula, dFk(3)、dFk(4)、dFk(5)、dFk(6) class successively It pushes away.Similarly, dFk-1(1) it is dFk-1First value in expression formula, dFk-2(1) it is dFk-2First value in expression formula, successively Analogize.
K4, according to the dX obtained in K3k、dYk、dZk、dθxk、dθyk、dθzk, the original of calculating machine arm distal center coordinate system Point needs the transformation matrix dT adjustedkposAnd each reference axis needs the transformation matrix dT adjustedkx、dTky、dTkz, calculation formula For:
K5, according to the dT obtained in K4kx、dTky、dTkz, calculating machine arm distal center coordinate system needs total change for adjusting Change matrix dTk, and transformation after mechanical arm base coordinate system to mechanical arm tail end centre coordinate system transition matrixMeter Calculating formula is:
dTk=dTkx dTky dTkz dTkpos
K6 calculates separately the center of the mechanical arm tail end T1 after cycle adjustment every time according to the calculating formula provided in K2-K5 Pose, until the center of mechanical arm tail end T1 Z coordinate always the amount of moving down close to setting ZCValue (Z in this stepC=-5mm).
It remarks additionally herein, the Z in Fig. 8k(T1) it is mechanical arm T is read out automatically when kth recycles machine The Z coordinate value at the center of tool arm end T1, dZk(T1) it is the amount of moving down at the center of mechanical arm tail end T1 in kth time cycle.Its In, in impedance control, because contact force direction is negative, as the contact force F measured in kth time cyclekIt is absolute Reference load F of the value less than setting0Absolute value when, the contact force error dF that calculates at this timekFor negative value, contact force error dFk It is multiplied by scale factor KpThe Z coordinate increment dZ obtained afterwardsk(T1) also it is negative value, illustrates at this time without card resistance, twin shaft workpiece P can be with Continue to decline (obtained Z coordinate increment dZ on the contraryk(T1) it is positive value, illustrates that axis P1 is stuck at this time, needs extraction a bit, axis P1 is just moved up) and+1 cycle of kth is then carried out, until the Z coordinate always close setting of the amount of moving down at the center of mechanical arm tail end T1 ZCValue, cycle stop.Wherein, k round numbers.
K7 changes the relevant parameter in K1, i.e. contact force reference value is [Fx,Fy,Fz]=[0,0,50] (N), contact torque Reference value is [Mx,My,Mz]=[0,0,0] (Nm), the total amount of the moving down Z of Z coordinateC=-100mm continues according to being provided in K2-K5 Calculating formula calculate every time cycle adjustment after mechanical arm tail end T1 center pose, until the center of mechanical arm tail end T1 Z coordinate always the amount of moving down close to setting ZCValue (Z in this stepC=-100mm).

Claims (6)

1. a kind of control method of Double-shaft-and-hole assembly system, Double-shaft-and-hole assembly system is used to twin shaft workpiece (P) being assemblied in diplopore In workpiece (H), the Double-shaft-and-hole assembly system includes:
Pedestal (W);
Mechanical arm (T) is fixed on pedestal (W) and is fixedly connected with twin shaft workpiece (P);
Laser tracking measurement instrument (M) measures the pose of twin shaft workpiece (P), diplopore workpiece (H) and mechanical arm tail end (T1);
Sensor (S) senses the phase of each axis (P1) and diplopore workpiece (H) of twin shaft workpiece (P) in Double-shaft-and-hole assembling process in real time Answer the contact force and contact torque between hole (H1);And
Upper computer control system (C) is electrically connected to mechanical arm (T), and is communicatively coupled to sensor (S) and receiving sensor (S) The contact force of transmission and the data of contact torque are moved with real time management mechanical arm (T);
Twin shaft workpiece (P) includes two axis (P1) and the connecting plate (P2) for being connected as one two axis (P1);
Twin shaft workpiece (P) is rigid workpiece or flexible workpiece;
Diplopore workpiece (H) includes two holes (H1) and the bottom plate (H2) for two holes (H1) to be arranged;
Diplopore workpiece (H) is rigid workpiece or flexible workpiece;
Sensor (S) is force snesor;
The control method of the Double-shaft-and-hole assembly system includes step:
S1, determine twin shaft workpiece (P) mechanical arm tail end centre coordinate system transition matrix Tt p, diplopore workpiece (H) is in mechanical arm The transition matrix of base coordinate systemAnd twin shaft workpiece (P) is in the transition matrix of mechanical arm base coordinate systemIncluding step Suddenly:
S11 measures the twin shaft of twin shaft workpiece (P) using laser tracking measurement instrument (M) under laser tracking measurement instrument coordinate system The three-dimensional coordinate in the bottom surface center of circle is respectively (Xplm, Yplm, Zplm)、(Xprm, Yprm, Zprm), the normal vector of twin shaft bottom surface is (Xpnm, Ypnm, Zpnm), the three-dimensional coordinate in the diplopore top surface center of circle of diplopore workpiece (H) is respectively (Xhlm, Yhlm, Zhlm)、(Xhrm, Yhrm, Zhrm), the normal vector of diplopore top surface is (Xhnm, Yhnm, Zhnm), the three-dimensional coordinate at the center of mechanical arm tail end (T1) is (Xtm, Ytm, Ztm);
S12 establishes biaxial coordinates system and diplopore coordinate system, and calculates laser tracking measurement instrument coordinate system to biaxial coordinates system Transition matrixWith laser tracking measurement instrument coordinate system to the transition matrix of diplopore coordinate system
S13, mechanical arm (T) read three-dimensional coordinate of the center of mechanical arm tail end (T1) under mechanical arm base coordinate system automatically (Xtw, Ytw, Ztw) and Eulerian angles (EX, EY, EZ), and mechanical arm tail end centre coordinate system is calculated to mechanical arm base coordinate system Transition matrixWith laser tracking measurement instrument coordinate system to the transition matrix of mechanical arm base coordinate system
S14 is acquired according to step S12It is acquired with S13WithRespectively obtain Tt pWithTable Up to formula, i.e.,:
S2, upper computer control system (C) initialization, check all the sensors (S) whether work normally and sensor (S) with it is upper It whether normally to be communicated between position machine control system (C), and back to zero calibration is carried out to sensor (S);
S3 manipulates mechanical arm (T) to adjust the relative position of axis hole, including step in real time by upper computer control system (C):
S31, adjustment mechanical arm (T) is so that biaxial coordinates system and diplopore coordinate system are tentatively aligned, at this timeWithIn in addition to correspondence Other values are equal except the Z coordinate value of origin is unequal, alignment front mechanical arm distal center coordinate system to mechanical arm pedestal seat Marking the transition matrix for being isTransition matrix of twin shaft workpiece (P) coordinate system to mechanical arm base coordinate systemIt enables adjusted The transition matrix of mechanical arm tail end centre coordinate system to mechanical arm base coordinate system after alignment isAdjusted alignment The transition matrix of twin shaft workpiece (P) coordinate system to mechanical arm base coordinate system afterwards is
S32, according in S31Initial value, calculate adjustment afterIf the front and back twin shaft of adjustment alignment The transformation matrices of coordinate system to the transition matrix of mechanical arm base coordinate system are dT, mechanical arm tail end centre coordinate system to mechanical arm The transformation matrices of the transition matrix of base coordinate system are dT2, and calculating process is:
S33, according to what is obtained in S32The center of mechanical arm tail end (T1) after adjusting is calculated in mechanical arm base coordinate system In three-dimensional coordinate (Xtw2, Ytw2, Ztw2) and Eulerian angles (EX2, EY2, EZ2), solution formula be:
The three-dimensional coordinate that the center of mechanical arm tail end (T1) is adjusted to obtain in step S33 is by S4, upper computer control system (C) (Xtw2, Ytw2, Ztw2), Eulerian angles be (EX2, EY2, EZ2) pose, complete axis hole alignment;
S5, upper computer control system (C) is using incremental P control methods and based on the position feedback and twin shaft of twin shaft workpiece (P) The size of the difference of the Z coordinate value of coordinate origin and the Z coordinate value of diplopore coordinate origin manipulates mechanical arm (T) and moves, so that Twin shaft workpiece (P) is vertically lowered, gradually it is close with diplopore workpiece (H), until contacting;
S6, the Double-shaft-and-hole assembly that upper computer control system (C) is sensed in real time using impedance adjustment and based on sensor (S) Contact force between each axis (P1) of twin shaft workpiece (P) and the corresponding aperture (H1) of diplopore workpiece (H) and contact torque in the process It manipulates mechanical arm (T) to move, so that twin shaft workpiece (P) continues to decline until fully mated with diplopore workpiece (H).
2. the control method of Double-shaft-and-hole assembly system according to claim 1, which is characterized in that in step s 12,
Using the center of twin shaft bottom surface circle center line connecting as origin, line YpAxis, twin shaft workpiece (P) connecting plate (P2) normal vector For ZpAxis, by YpMultiplication cross ZpAxis obtains XpAxis establishes biaxial coordinates system, and laser tracking measurement instrument (M) is used in combination to measure biaxial coordinates system Three-dimensional coordinate O of the origin under laser tracking measurement instrument coordinate systemp, laser tracking measurement instrument coordinate system and biaxial coordinates system Transformational relation is as follows:
Using the center of diplopore top surface circle center line connecting as origin, line YhThe normal vector of plane where axis, diplopore top surface is ZhAxis, By YhMultiplication cross ZhAxis obtains XhAxis establishes diplopore coordinate system, and the origin that laser tracking measurement instrument (M) measures diplopore coordinate system is used in combination to exist Three-dimensional coordinate O under laser tracking measurement instrument coordinate systemh, the transformational relation of laser tracking measurement instrument coordinate system and diplopore coordinate system It is as follows:
In step s 13, transition matrix of the mechanical arm tail end centre coordinate system to mechanical arm base coordinate systemCalculation formula For:
Transition matrix of the laser tracking measurement instrument coordinate system to mechanical arm base coordinate systemCalculation formula be:
3. the control method of Double-shaft-and-hole assembly system according to claim 1, which is characterized in that in step s 5, upper The contact force threshold of vertical direction is provided in machine control system (C), when twin shaft workpiece (P) and diplopore workpiece (H) contact After contact force reaches the threshold value, upper computer control system (C) controls twin shaft workpiece (P) and stops declining.
4. the control method of Double-shaft-and-hole assembly system according to claim 1, which is characterized in that in step s 5, increment The algorithm of type P control methods is:
P1, transition matrix of mechanical arm (T) base coordinate system to biaxial coordinates system during calculating kth time recyclesAnd twin shaft at this time The difference of the Z coordinate value of coordinate origin and the Z coordinate value of diplopore coordinate origin, i.e.,:
Wherein,Indicate the Z coordinate value of the origin of hole coordinate system,Indicate the Z coordinate value of the origin of axis coordinate system;
P2, the amount of moving down of biaxial coordinates system origin is dZ during kth time recyclesk, controlled for ratio since incremental P controls, then dZk =Kpezk, calculate the three-dimensional coordinate (X at the center of mechanical arm tail end (T1) in+1 cycle of kthtw(k+1), Ytw(k+1), Ztw(k+1)), I.e.:
(Xtw(k+1),Ytw(k+1),Ztw(k+1))=(Xtwk,Ytwk,Ztwk+dZk)
Wherein KpIt indicates scale factor, and is a constant.
5. the control method of Double-shaft-and-hole assembly system according to claim 4, which is characterized in that followed in incremental P controls During ring, when the difference of the Z coordinate value of the Z coordinate value and diplopore coordinate origin of biaxial coordinates system origin is less than 0.001mm When, cycle stops.
6. the control method of Double-shaft-and-hole assembly system according to claim 1, which is characterized in that in step s 6, impedance The algorithm of control method is:
Relevant parameter, K is arranged in K1p=0.02, Kd=0.002, Kv=5, [Fx0,Fy0,Fz0]=[5,10,20] (N), [Mx0,My0, Mz0]=[0,0,0] ((Nm), ZC=-5mm, wherein KpFor the scale factor in impedance control, KdFor the differential in impedance control Parameter, KvFor the damping parameter in resistance impedance control, [Fx0,Fy0,Fz0] it is contact force reference value, [Mx0,My0,Mz0] it is contact force Square reference value, ZCFor the total amount of moving down of Z coordinate at the center of mechanical arm tail end T1;
K2 is respectively [F by sensor (S) collected contact force and contact torque in kth time cyclexk,Fyk,Fzk]、 [Mxk,Myk,Mzk], i.e.,:
Fk=[Fxk,Fyk,Fzk,Mxk,Myk,Mzk]
dFk=[Fx0-Fxk,Fy0-Fyk,Fz0-Fzk,Mx0-Mxk,My0-Myk,Mz0-Mzk],
Wherein, FkFor the six-dimensional force that contact force in kth time cycle and contact torque are constituted, dFkFor contact force and contact force reference value Difference and contact torque with contact torque reference value difference constitute six-dimensional force;
K3 is calculated in kth time cycle and is needed the pose adjusted, i.e. the origin translation amount (dX of mechanical arm tail end centre coordinate systemk, dYk,dZk) and each reference axis amount of spin, calculation formula is:
Wherein, dXkTranslational movement, dY of the origin at mechanical arm tail end center in X-direction in being recycled for kth timekFor in kth time cycle Translational movement, the dZ of the origin at mechanical arm tail end center in the Y directionkThe origin at mechanical arm tail end center is in the side Z in being recycled for kth time To translational movement, d θxkFor amount of spin, d θ of the mechanical arm tail end centre coordinate system around X-coordinate axle in kth time cycleykFor kth time Amount of spin, d θ of the mechanical arm tail end centre coordinate system around Y-coordinate axle in cyclezkIt is sat for mechanical arm tail end center in kth time cycle Mark system is around the amount of spin of Z coordinate axis, dXk-1For mechanical arm tail end center in the cycle of kth -1 time origin X-direction translational movement, dYk-1For the origin translational movement in the Y direction at mechanical arm tail end center in the cycle of kth -1 time, dZk-1For machine in -1 cycle of kth The origin of tool arm distal center is in the translational movement of Z-direction, dFk-1For the difference of contact force and contact force reference value in -1 cycle of kth And the six-dimensional force that contact torque is constituted with the difference for contacting torque reference value, dFk-2For contact force in the cycle of kth -2 times with contact The six-dimensional force that the difference and contact torque of power reference value are constituted with the difference for contacting torque reference value, dFk(1) it is dFkIn expression formula First value, dFk(2) it is dFkSecond value in expression formula, dFk(3)、dFk(4)、dFk(5)、dFk(6) and so on, together Reason, dFk-1(1) it is dFk-1First value in expression formula, dFk-2(1) it is dFk-2First value in expression formula, and so on;
K4, according to the dX obtained in K3k、dYk、dZk、dθxk、dθyk、dθzk, the origin of calculating machine arm distal center coordinate system need to The transformation matrix dT to be adjustedkposAnd each reference axis needs the transformation matrix dT adjustedkx、dTky、dTkz, calculation formula is:
K5, according to the dT obtained in K4kx、dTky、dTkz, calculating machine arm distal center coordinate system needs total transformation square for adjusting Battle array dTk, and transformation after mechanical arm base coordinate system to mechanical arm tail end centre coordinate system transition matrixIt calculates public Formula is:
dTk=dTkxdTkydTkzdTkpos
K6 calculates separately the center of the mechanical arm tail end (T1) after cycle adjustment every time according to the calculating formula provided in K2-K5 Pose, until the Z of the Z coordinate always close setting of the amount of moving down at the center of mechanical arm tail end (T1)CValue;
K7 changes the relevant parameter in K1, i.e. contact force reference value is [Fx,Fy,Fz]=[0,0,50] (N), contact torque reference Value is [Mx,My,Mz]=[0,0,0] (Nm), the total amount of the moving down Z of Z coordinateC=-100mm continues according to the meter provided in K2-K5 Formula calculates the pose at the center of the mechanical arm tail end (T1) after cycle adjustment every time, until in mechanical arm tail end (T1) The Z of the Z coordinate of the heart always close setting of the amount of moving downCValue.
CN201610519794.1A 2016-07-04 2016-07-04 Double-shaft-and-hole assembly system and its control method Active CN106112505B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610519794.1A CN106112505B (en) 2016-07-04 2016-07-04 Double-shaft-and-hole assembly system and its control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610519794.1A CN106112505B (en) 2016-07-04 2016-07-04 Double-shaft-and-hole assembly system and its control method

Publications (2)

Publication Number Publication Date
CN106112505A CN106112505A (en) 2016-11-16
CN106112505B true CN106112505B (en) 2018-07-24

Family

ID=57468390

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610519794.1A Active CN106112505B (en) 2016-07-04 2016-07-04 Double-shaft-and-hole assembly system and its control method

Country Status (1)

Country Link
CN (1) CN106112505B (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106217374B (en) * 2016-08-11 2019-01-11 广州成潮智能科技有限公司 A kind of control method of intelligent machine arm, apparatus and system
CN106885514B (en) * 2017-02-28 2019-04-30 西南科技大学 A kind of Deep Water Drilling Riser automatic butt position and posture detection method based on machine vision
CN106695285B (en) * 2017-03-17 2019-04-30 山东科技大学 It is a kind of be laid with drag conveyor chute equipment and its application
CN107186460A (en) * 2017-07-10 2017-09-22 上海新时达电气股份有限公司 Industrial robot carries out the method and its system of peg-in-hole assembly
CN107443377B (en) * 2017-08-10 2020-07-17 埃夫特智能装备股份有限公司 Sensor-robot coordinate system conversion method and robot eye calibration method
CN108196447B (en) * 2017-12-25 2020-05-12 清华大学 Robot double-shaft hole assembling method based on learning genetic evolution algorithm
CN108161934B (en) * 2017-12-25 2020-06-09 清华大学 Method for realizing robot multi-axis hole assembly by utilizing deep reinforcement learning
CN108581405B (en) * 2018-04-11 2020-04-07 东莞市科讯机械自动化设备有限公司 Material moves and carries counterpoint mechanism
CN110480291A (en) * 2018-05-15 2019-11-22 中国科学院沈阳自动化研究所 A kind of complex structural member precision interconnection method based on 6DOF industrial robot
CN109014816B (en) * 2018-08-15 2020-04-03 清华大学 Feedback auxiliary assembly method for distributed force sensor
CN109093376B (en) * 2018-08-17 2020-04-03 清华大学 Multi-axis hole automatic alignment method based on laser tracker
CN110238839B (en) * 2019-04-11 2020-10-20 清华大学 Multi-shaft-hole assembly control method for optimizing non-model robot by utilizing environment prediction
CN110355557B (en) * 2019-07-05 2020-11-10 清华大学 Spiral insertion method for assembling large-size shaft hole workpiece
CN111531530A (en) * 2020-03-13 2020-08-14 北京卫星制造厂有限公司 Low-stress installation and adjustment system and method based on six-dimensional force sensing

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE501867C2 (en) * 1993-11-15 1995-06-12 Asea Brown Boveri Method and system for calibrating an industrial robot using a spherical calibration body
CN101041220B (en) * 2006-03-22 2012-03-28 中国科学院自动化研究所 Method for realizing the assembly of shaft hole having high-precision by using robot having low precision
CN101972929B (en) * 2010-10-09 2011-11-30 大连理工大学 Method for comprehensively compensating assembling force and stiffness
JP6335460B2 (en) * 2013-09-26 2018-05-30 キヤノン株式会社 Robot system control apparatus, command value generation method, and robot system control method
CN104625676B (en) * 2013-11-14 2016-09-14 沈阳新松机器人自动化股份有限公司 Peg-in-hole assembly industrial robot system and method for work thereof
CN104057290B (en) * 2014-06-24 2016-09-14 中国科学院自动化研究所 A kind of robotic asssembly method and system of view-based access control model and force-feedback control
CN105563481B (en) * 2014-11-11 2018-06-29 沈阳新松机器人自动化股份有限公司 A kind of robot vision bootstrap technique for peg-in-hole assembly

Also Published As

Publication number Publication date
CN106112505A (en) 2016-11-16

Similar Documents

Publication Publication Date Title
CN203679343U (en) Tail end hole forming actuator of robot
Zhuang et al. Calibration of Stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals
CN102233587B (en) Apparatus and method for detecting contact position of robot
CN102825602B (en) PSD (Position Sensitive Detector)-based industrial robot self-calibration method and device
US6378190B2 (en) Method for stress-free assembly of components
CN105583824B (en) Force control traction and swinging multi-degree-of-freedom mechanical arm control device and method
CN102310258B (en) Robot system
CN101861510B (en) Method of aligning arm reference systems of multiple- arm measuring machine
CN106041926B (en) A kind of industrial machinery arm strength/Position Hybrid Control method based on Kalman filter
CN101630409B (en) Hand-eye vision calibration method for robot hole boring system
Hsu et al. A new compensation method for geometry errors of five-axis machine tools
AU619171B2 (en) Coordinate measuring system
CN103389038B (en) Laser tracker set the goal multistation measure numerically-controlled machine geometric accuracy detection method
Zhuang et al. Kinematic calibration of a Stewart platform using pose measurements obtained by a single theodolite
Veitschegger et al. A method for calibrating and compensating robot kinematic errors
CN106272416A (en) Feel based on power and the robot slender axles Fine Boring system and method for vision
Tsutsumi et al. Identification and compensation of systematic deviations particular to 5-axis machining centers
CN102087096B (en) Automatic calibration apparatus for robot tool coordinate system based on laser tracking measurement and method thereof
CN107717993B (en) Efficient and convenient simple robot calibration method
CN101644921B (en) Improved method for designing numerical control bending of plate
CN100565406C (en) A kind of aircraft part pose Adjustment System and method based on four locater
CN105945948B (en) A kind of online quick calibrating methods of TCP applied to industrial robot and device
CN104608129A (en) Planar constraint based robot calibration method
CN106141814B (en) The detection of Digit Control Machine Tool translation shaft geometric error and discrimination method based on LaserTRACER
Zargarbashi et al. Single setup estimation of a five-axis machine tool eight link errors by programmed end point constraint and on the fly measurement with Capball sensor

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
GR01 Patent grant