CN109794938A - A kind of robot hole error-compensating apparatus and its method suitable for curved-surface structure - Google Patents
A kind of robot hole error-compensating apparatus and its method suitable for curved-surface structure Download PDFInfo
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Abstract
The invention discloses a kind of robot hole error-compensating apparatus and its method suitable for curved-surface structure, belong to robot hole field, the device includes industrial camera, four laser range sensors, cutter, specific scaling board, rigid removable connecting shaft and several fixtures；Industrial camera is fixed on robot end at a certain angle, and four laser range sensors are distributed in cutter surrounding；This method is to characterize trick relationship with homograph；Three-dimensional error matrix is established with the corresponding robot theory driving coordinate of datum hole and practical driving coordinate, the driving coordinate hole to be drilled in datum hole contiguous range is recalculated by three-dimensional error matrix, to complete location error compensation hole to be drilled.The present invention is more simple and easy to do in the method for carrying out on-line checking using homography matrix characterization hand-eye relationship between camera image plane and drilling working face, and datum hole error calculation is established in three-dimensional space, therefore the present invention is more suitable for curved surface drilling.
Description
Technical field
The invention belongs to robot hole fields, are a kind of drilling error compensating methods, specially a kind of to be suitable for curved surface
The robot hole error compensating method of structure.
Background technique
In recent years, replacing progress drilling by hand using industrial robot has been that an important development of aero-manufacturing technology becomes
Gesture.However, industrial robot has that repetitive positioning accuracy is high and absolute fix precision is low, so that robot localization precision
It is difficult to meet aviation drilling required precision.Further, since the numerical control program of robot hole is typically based on the meter to drilling part
Calculation machine aided design models (abbreviation CAD model), and there are manufacture deviation, workpiece and machines between CAD model and practical work piece
Also there can be position centering deviation between people, these factors accumulate deviation when robot practical drilling, and finally influence system
The precision of hole site and drilling direction.Therefore research drilling error compensating method is very necessary.
The more existing hole position error compensation method fed back using view-based access control model, solves the change of camera and robot end
It is complex to change process, and requires camera to be moved to right above hole location in actual measurement and shoots measurement, cutter is being not just at this time
To hole location, also need to be moved according to the positional relationship between cutter and camera after shooting measurement, such as [Frontiers of
Information Technology&Electronic Engineering, 2014,15 (8): 593-606.], propose one
The method that kind is completed at the same time hand and eye calibrating and camera parameter calibration, reduces the complexity of hand and eye calibrating, but real to a certain extent
Border still needs to that camera is made to be moved to shooting right above hole location when working.Drilling error compensating method is carried out using laser tracker to compare
It is lower in visible sensation method integrated level and the degree of automation.The existing error compensating method based on datum hole positioning, such as
[International Journal of Advanced Manufacturing Technology,2013,68(9-12):
2535-2545.] in propose bilinear interpolation method, error calculation is only established in two-dimensional space, therefore is not suitable for curved surface knot
Structure.
Summary of the invention
It is an object of the invention to propose a kind of robot hole error compensating method suitable for curved-surface structure, to solve
Robot hole quality is difficult to the problem of meeting aviation drilling requirement.
The present invention is implemented as follows:
A kind of robot hole error-compensating apparatus suitable for curved-surface structure, including industrial camera, robot, feature
It is, it is ring flange coordinate system x/y plane above the robot ring flange that the robot, which includes robot ring flange,
It is provided with fixture above the ring flange coordinate system x/y plane, in the end slant setting industrial camera of fixture；The folder
Cutter is installed, the axis of cutter is overlapped or parallel with the z-axis of ring flange coordinate system xy plane on tool；In the surrounding point of cutter
Four laser range sensors of cloth；Scaling board is also equipped with by connecting shaft above the robot ring flange, it is described
Scaling board includes scaling board working face, i.e., scaling board lower surface (plane opposite with ring flange), four apex angle of scaling board are arranged
Location hole on scaling board, nine hole arrays on scaling board；The scaling board working face is parallel with ring flange coordinate system x/y plane, institute
The axis for the cutter stated is across the laser rays of nine hole array regions and laser range sensor on scaling board in scaling board working face
On target spot be evenly arranged on tool axis surrounding；The camera optical axis of the industrial camera passes through nine hole array regions on scaling board.
Homograph characterization trick on the scaling board taken using camera between the image of nine hole arrays and scaling board working face is closed
System.
Further, the connecting shaft is parallel to cutter, and is mounted on fixture.
Further, the scaling board, connecting shaft are dismountable.
The invention also discloses a kind of compensation method of robot hole error-compensating apparatus suitable for curved-surface structure, steps
It is rapid as follows:
Step 1: industrial camera tilt angle is installed on robot end, four laser range sensors are mounted on
Scaling board is mounted on above robot ring flange by cutter surrounding by rigid connecting shaft；
Exist Step 2: obtaining nine hole array of scaling board by external measurement devices three dimensional optical measuring instrument or laser tracker
Position under flange coordinate system, using nine hole array images on industrial camera shooting scaling board, with nine hole arrays on scaling board
The plane of delineation and Cartesian plane carry out homography matrix calculating, characterize trick relationship with the homography matrix of acquisition, complete trick mark
Scaling board and rigid connecting shaft are removed after fixed work；
Step 3: demarcating four sensors in flange using external measurement devices three dimensional optical measuring instrument or laser tracker
Position under coordinate system；
Step 4: according to datum hole theoretical coordinateRdtj, j=1,2, K, (subscript R indicates to sit under robot basis coordinates system n
Mark, subscript t indicates coordinate theoretical value) (h is by robot knife by driving robot band cutter arrival datum hole top certain altitude h
Have co-ordinate system location, camera object distance etc. to determine), measurement is adjusted using laser range sensor (4) and industrial camera；
Step 5: repeating step 4 to one group of datum hole, the practical driving of whole datum holes in one group of datum hole has been measured
CoordinateRdpj, j=1,2, K, n (subscript R indicates coordinate under robot basis coordinates system, subscript p indicates coordinate theoretical value) utilize reality
Border drives coordinateRdpj, j=1,2, K, n and theory drive coordinateRdtj, mapping relations between j=1,2, K, n, calculate it is three-dimensional accidentally
Poor transformation matrix.
Step 6: the three-dimensional error transformation matrix obtained using step 5, to the whole in one group of datum hole contiguous range
Driving coordinate hole to be drilledRrtIt is recalculated, with new driving coordinateRraIt drives robot to reach hole to be drilled, completes to treat
The error compensation of drilling.
Further, the step one specifically:
1.1, calibration Board position adjust to make scaling board working face away from distance h high between ring flange coordinate system x/y plane
Degree, and the axis of cutter can pass through nine hole array regions on scaling board；
1.2, industrial camera angle is adjusted to enabling its optical axis to pass through nine hole array region on scaling board；
1.3, laser range sensor position and angle are adjusted to enabling laser point to be evenly arranged on tool axis and drilling and are worked
The intersection point surrounding in face.
Further, the step two specifically:
2.1, the pixel coordinate (u of each center of circular hole of nine hole arrays in the picture is obtained by image procossingi,vi) (i=1,
2,L,9)；
2.2, position of the scaling board location hole under flange coordinate system is obtained by external measurement devices, is set according to scaling board
Size is counted, coordinate (x of nine hole arrays under flange coordinate system on scaling board is calculatedi,yi,zi) (i=1,2, L, 9)；
2.3, carrying out list with the pixel coordinate in nine holes and corresponding cartesian coordinate should be related to that H is calculated, and complete hand and eye calibrating,
Wherein H meets
U, v respectively indicate the pixel coordinate of nine hole arrays in formula, and x, y respectively indicate nine hole arrays under flange coordinate system
X, y value of cartesian coordinate.
Further, the step four specifically:
4.1, it using the angle of laser range sensor measurement tool axis and datum hole plane normal, is fed back according to angle
Robot end's pose adjustment is carried out, until datum hole part plan normal direction and tool axis drift angle reach precision controlling range
It is interior；
4.2, using laser range sensor measuring basis hole part plan to the distance h ' of ring flange coordinate system x/y plane,
The height adjustment for carrying out robot end relative to datum hole part plan is fed back according to distance, until the deviation of h ' and h reaches
Into precision controlling；
4.3, using industrial camera measuring basis hole relative between intersection point between tool axis and datum hole part plan
Deviation carries out the adjustment of robot end position according to image feedback, until tool axis and datum hole plane point of intersection to datum hole
Deviation between hollow reaches within the scope of precision controlling；
4.4, step 4.1, step 4.2, step 4.3 are repeated to three deviations while being reached in precision controlled range, so
After record the corresponding robotically-driven coordinate of datum hole (9) at this time.Refer to that drilling location error such as is less than in precision controlled range
0.3mm, for deflection error less than 0.35 °, range error is less than 0.5mm, and usual precision is can be controlled within the precision.
Further, the step five specifically:
The datum hole theory that is calculated drive rotational transformation matrix R from coordinate to practical driving coordinate and translation transformation to
Amount T meets the least square solution of following formula
In formula, pre-super R indicates that coordinate under robot basis coordinates system, bottom right mark t, p respectively indicate coordinate theoretical value, coordinate
Driving value.
Further, the calculating of the step six are as follows:
In formula: pre-super R indicates that coordinate under robot basis coordinates system, bottom right mark t, a respectively indicate coordinate theoretical value, coordinate
Predicted value.
Further, the precision controlling range specifically: drilling location error is less than the drilling limits of error, direction
Error is less than the maximum allowable declination error of drilling, and range error is less than 0.5mm.
The beneficial effect of the present invention compared with prior art is:
1) present invention is fed back by monocular vision and four laser range sensor measurements, to drive robot to carry out posture
Adjustment is calculated using theoretical with practical driving coordinate so that measurement obtains driving grid deviation corresponding to datum hole on workpiece
Three-dimensional error transformation matrix, and the driving coordinate hole to be drilled in datum hole contiguous range is recalculated, thus completion pair
Error compensation hole to be drilled；
2) present invention characterizes hand-eye relationship side using the homography matrix between camera image plane and drilling working face
Method is more simple and easy to do；
3) camera is installed with certain tilt angle, it can be achieved that reaching under the state of designated position in robot directly band movable arbor
The fast speed real-time measurement of error is carried out, the vision measuring method right above hole location need to be located at compared to camera, this method can be more
Closed loop feedback is efficiently formed, automation and integration degree are higher；Since the measurement and transformation of error are established in three-dimensional space
Between, therefore the present invention is suitable for positioning the drilling on curved-surface structure.
Detailed description of the invention
A kind of schematic diagram of the robot hole error-compensating apparatus suitable for curved-surface structure of Fig. 1 present invention；
Camera calibration image schematic diagram Fig. 2 of the invention；
Robot hole state signal Fig. 3 of the invention；
Robot pose adjustment process signal Fig. 4 of the invention；
Robot pose adjustment process when a datum hole error measure in Fig. 5 embodiment of the present invention；
Datum hole and position view hole to be drilled Fig. 6 of the invention；
Error detection result before and after the compensation hole to be drilled of one of them in Fig. 7 the embodiment of the present invention；
Wherein: 1- scaling board；1-1- scaling board working face；Location hole on 1-2- scaling board；Nine Kong Zhen on 1-3- scaling board
Column；2- connecting shaft；3- cutter；4- laser range sensor；4-1- laser rays；5- industrial camera；5-1- camera optical axis；6- folder
Tool；7- robot ring flange；7-1- ring flange coordinate system x/y plane；8- aircraft structure；9- datum hole；10- is hole to be drilled.
Specific embodiment
The present invention is further illustrated in the following with reference to the drawings and specific embodiments.It should be pointed out that described herein
Specific embodiment is only used to explain the present invention, is not intended to limit the present invention.
Shown in FIG. 1 is a kind of schematic diagram of the robot hole error-compensating apparatus suitable for curved-surface structure of the present invention,
End effector i.e. of the invention and scaling board installation are illustrated, and end effector therein mainly includes a CCD industrial camera
5, four laser range sensors 4, cutter 3 and several fixtures 6.Industrial camera 5 is fixed on robot end at a certain angle,
Detection for hole location position；Four laser range sensors 4 are distributed in 3 surrounding of cutter, opposite for robot measurement end
Height and direction in piece surface；Cutter 3 is mounted on fixture 6, the z-axis of axis and ring flange coordinate system x/y plane 7-1
It is overlapped or parallel, specific location is measured by external measurement devices.
Wherein the installation of scaling board 1 specially scaling board 1 is mounted on 7 end of robot ring flange by a rigid connecting shaft 2
End, connecting shaft 2 are parallel to cutter 3 and are mounted on fixture 6, scaling board working face 1-1 after installation, also referred to as drilling working face, with
Ring flange coordinate system x/y plane 7-1 is parallel (to be machined and can guarantee that the parallelism error of working face and ring flange is much smaller than drilling position
Set error requirements), the height h away from ring flange coordinate system x/y plane 7-1 is by the length of cutter 3 and reserved drilling safe distance etc.
It determines, the axis of cutter 3 passes through the laser rays 4-1 of nine regions hole array 1-3 and laser range sensor 4 on scaling board after installation
Target spot on working face is evenly arranged on tool axis surrounding, and industrial camera 5, which can understand, takes nine hole array 1-3 on scaling board
In picture centre region, the trick relationship based on homograph is completed using scaling board 1 and is established；Wherein scaling board 1 and connecting shaft 2
Detachably.
As shown in Fig. 2, when being hand and eye calibrating on the scaling board working face that takes of camera nine hole arrays image, the image
In center of circular hole point be used for homography matrix accuracy computation, while being also used for the calculating of final trick relationship.Specific steps are as follows:
Step 1: the pixel coordinate (u of each center of circular hole of nine hole arrays in the picture is obtained by image procossingi,vi)(i
=1,2, K, 9), as shown in table 1.
Table 1
Step 2: the position under flange coordinate system of scaling board location hole is obtained by external measurement devices, passes through mark
Fixed board design size can calculate coordinate of nine hole arrays under flange coordinate system, (x on scaling boardi,yi,zi) (i=1,2,
L, 9), as shown in table 2.
Table 2
Step 3: appoint and eight hole heart pixel coordinates in nine hole arrays is taken to sit with the Descartes under corresponding flange coordinate system
Mark carries out single calculating that should be related to H, and wherein H meets
Then utilize the H of acquisition by the pixel coordinate (u of a remaining circular hole9,v9) be converted to cartesian coordinate and the circle
Cartesian coordinate (the x that hole measurement obtains9,y9) be compared, the precision of H is verified, as shown in table 3, for any in nine hole arrays
The prediction effect of eight hole prediction remaining hole.
Table 3
Step 4: the embodiment can demonstrate,prove Hand-Eye calibration method precision of the invention, and can to meet drilling required precision (logical
Often require position error within 0.3mm), carrying out list again with the pixel coordinate in nine holes and corresponding cartesian coordinate should be related to
H is calculated, and completes hand and eye calibrating, and as shown in Table 3, homography matrix predicts that error is much smaller than drilling error requirements, and final calculate obtains H
Matrix is as follows.
As shown in Figure 3, Figure 4 when drilling practical for robot, initial attitude and adjustment signal.
Initial attitude when the practical drilling: robot reaches on datum hole 9 according to the theoretical driving coordinate of datum hole 9
Fang Shi, due to the presence of robot localization error, workpiece centering and configuration error etc., robot end is relative to datum hole part
The posture of plane is not ideal pose in Fig. 3, but practical posture.
The robot pose adjustment, practical pose adjustment when for by robot by above arrival datum hole are ideal
Posture, the specific steps are that:
Step 1: the hole heart part plan normal direction measured using laser range sensor 4 is calculated and cutter shaft angle
Degree θ feeds back according to the measurement of angle and carries out robot end's pose adjustment, until datum hole part plan normal direction and cutter shaft
Drift angle between line reaches within the scope of precision controlling.If θ error is excessive, need to adjust robot end's posture by Fig. 4 (a) institute
Show practical posture to posture shown in 4 (b).
Step 2: the workpiece part plan normal direction information and measure that feedback obtains when reaching physical location using robot
Height h ', according to distance measurement feedback carry out robot end relative to datum hole part plan height adjust, until
The deviation of h ' and h reaches within the scope of precision controlling.If the difference of h ' and h is greater than the worst error value allowed (in the present embodiment
Set h '-h≤0.5mm), then need to adjust robot pose practical posture as shown in Fig. 3 (b) to posture shown in 4 (a).
Step 3: hollow relative between intersection point between tool axis and datum hole part plan using camera measurement datum hole
Deviation, the adjustment of robot end position is carried out according to image feedback, until tool axis and datum hole plane point of intersection are to benchmark
Deviation between Kong Kongxin reaches within the scope of precision controlling.If the datum hole hole heart pixel coordinate that camera measurement arrives, is closed by trick
Be H conversion after coordinate, away from tool axis apart from it is excessive when, then need to drive robot on the basis of current pose along its flange
Coordinate system x-axis and y-axis move corresponding offset distance respectively, make robot end's posture posture as shown in Fig. 4 (b) to Fig. 4 (c)
Shown posture.
Step 4: repeating Step 1: Step 2: step 3 is to three deviations while reaching in precision controlled range, so
After record the corresponding robotically-driven coordinate of datum hole at this time.As shown in figure 5, being surveyed for datum hole error one of in embodiment
When amount, robot pose adjustment.The center of circular hole of 5 (a) postures when being actually reached, 5 (b) corresponding 5 (a) extract result, and 5 (c) adjust
The center of circular hole of ideal pose after whole, 5 (d) corresponding 5 (c) extracts result
The error compensation hole to be drilled, to go out error compensation amount hole to be drilled by the driving error calculation of datum hole, with
Compensated driving coordinate hole to be drilled drives robot.It completes to location error compensation hole to be drilled.It is aircraft as shown in Fig. 6
Positional relationship signal on structural test part 8 between hole to be drilled 10 and datum hole 9, number >=3 of each group of datum hole are hole to be drilled
10 compensated driving coordinate is calculated by the three-dimensional error transformation matrix of the datum hole 9 of respective sets and is obtained.Compensate hole to be drilled 10
Specific compensation process are as follows:
Step 1；The practical driving coordinate for measuring one group of datum hole, calculates the three-dimensional error transformation matrix of the group.
Step 2: the driving hole to be drilled in this group of datum hole territory is recalculated using three-dimensional error transformation matrix
Coordinate, with new driving coordinate driving robot traveling, to compensate position error hole to be drilled.
Step 3: repeating step 1 and carry out next group of benchmark hole measurement, repeats step 2 and carries out corresponding position error benefit
It repays.Until completing all error compensations hole to be drilled.As shown in fig. 7, before and after for one of them compensation hole to be drilled in the present embodiment
The center of circular hole of error detection result, posture after 7 (a) direct compensations, 7 (b) corresponding 7 (a) extract as a result, 7 (c) adjusting methods backward
The center of circular hole of final carriage, 7 (d) corresponding 7 (c) extracts result.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, several improvement can also be made without departing from the principle of the present invention, these improvement also should be regarded as of the invention
Protection scope.
Claims (10)
1. a kind of robot hole error-compensating apparatus suitable for curved-surface structure, including industrial camera (5), robot, special
Sign is that the robot includes robot ring flange (7), is flange coordinate system above the robot ring flange (7)
X/y plane (7-1), flange coordinate system x/y plane (7-1) top are provided with fixture (6), tilt in the end of fixture (6)
It places industrial camera (5)；It is equipped with cutter (3) on the fixture (6), the axis and flange coordinate system x/y plane of cutter (3)
The z-axis coincidence or parallel of (7-1)；Four laser range sensors (4) are distributed in the surrounding of cutter (3)；In the robot
It is also equipped with scaling board (1) by connecting shaft (2) above ring flange (7), the scaling board (1) includes and ring flange (7) phase
Pair scaling board working face (1-1), the setting of (1) four apex angle of scaling board scaling board on location hole (1-2), nine Kong Zhen on scaling board
It arranges (1-3)；The scaling board working face (1-1) is parallel with flange coordinate system x/y plane (7-1), the axis of the cutter (3)
Line is across the laser rays (4-1) of the nine hole arrays region (1-3) and laser range sensor (4) on scaling board in scaling board working face
Target spot on (1-1) is evenly arranged on tool axis surrounding；The camera optical axis (5-1) of the industrial camera (5) passes through on scaling board
The region nine hole arrays (1-3).
2. a kind of robot hole error-compensating apparatus suitable for curved-surface structure according to claim 1, feature exist
In the connecting shaft (2) is parallel to cutter (3), and is mounted on fixture (6).
3. a kind of robot hole error-compensating apparatus suitable for curved-surface structure according to claim 1, feature exist
In the scaling board (1), connecting shaft (2) are dismountable.
4. a kind of compensation method of the robot hole error-compensating apparatus suitable for curved-surface structure, which is characterized in that step is such as
Under:
Step 1: industrial camera (5) tilt angle is installed on robot end, four laser range sensors (4) are installed
In cutter (3) surrounding, scaling board (1) is mounted on above robot ring flange (7) by rigid connecting shaft (2)；
Step 2: obtaining nine hole array of scaling board in flange by external measurement devices three dimensional optical measuring instrument or laser tracker
It is flat to calculate scaling board work using nine hole arrays (1-3) image on industrial camera (5) shooting scaling board for position under coordinate system
Homography matrix between face (1-1) and the imaging plane of industrial camera (5) characterizes trick relationship with the homography matrix of acquisition；It is complete
It is removed after working at hand and eye calibrating scaling board (1) and rigid connecting shaft (2)；
Step 3: demarcating four sensors in flange coordinate using external measurement devices three dimensional optical measuring instrument or laser tracker
Position under system；
Step 4: according to datum hole theoretical coordinateRdtj, j=1,2, K, n, wherein d indicates that datum hole coordinate, subscript R indicate machine
Coordinate under device people's basis coordinates system, subscript t indicates coordinate theoretical value；Robot band cutter (3) is driven to reach on datum hole (9)
Side, height h is determined by cutter length and reserved safe distance between cutter (3) and datum hole (9), utilizes laser range sensor
(4) and industrial camera (5) is adjusted measurement；
Step 5: repeating step 4 to one group of datum hole, the practical driving coordinate of whole datum holes in one group of datum hole has been measuredRdpj, j=1,2, K, n, wherein d indicates that datum hole coordinate, subscript R indicate that coordinate under robot basis coordinates system, subscript p indicate to sit
Actual value is marked, drives coordinate using practicalRdpj, j=1,2, K, n and theory drive coordinateRdtj, j=1,2, K, the mapping between n
Relationship calculates three-dimensional error transformation matrix and calculates；
Step 6: the three-dimensional error transformation matrix obtained using step 5, to be drilled to the whole in one group of datum hole contiguous range
The driving coordinate in hole (10)RrtIt is recalculated, wherein r indicates that coordinate hole to be drilled, subscript R indicate under robot basis coordinates system
Coordinate, subscript t indicates coordinate theoretical value, with new driving coordinateRraRobot is driven to reach (10) hole to be drilled, wherein subscript R
Indicate coordinate under robot basis coordinates system, subscript a indicates coordinate predicted value is completed to error compensation hole to be drilled.
5. a kind of compensation side of robot hole error-compensating apparatus suitable for curved-surface structure according to claim 4
Method, which is characterized in that the step one specifically:
1.1, scaling board (1) position adjust to make scaling board working face (1-1) away from the spacing of ring flange coordinate system x/y plane (7-1)
From for h height, and the axis of cutter (3) can pass through region nine hole arrays (1-3) on scaling board (1)；
1.2, industrial camera (5) angle is adjusted to enabling its optical axis to pass through the region nine hole arrays (1-3) on scaling board；
1.3, laser range sensor (4) position and angle are adjusted to enabling laser point to be evenly arranged on tool axis and drilling working face
Intersection point surrounding.
6. a kind of compensation side of robot hole error-compensating apparatus suitable for curved-surface structure according to claim 4
Method, which is characterized in that the step two specifically:
2.1, the pixel coordinate (u of each center of circular hole of nine hole arrays in the picture is obtained by image procossingi,vi) (i=1,2, L,
9)；
2.2, the position of scaling board location hole (1-2) under flange coordinate system is obtained by external measurement devices, according to scaling board
Design size calculates coordinate (x of nine hole arrays under flange coordinate system on scaling boardi,yi,zi) (i=1,2, L, 9)；
2.3, carrying out list with the pixel coordinate in nine holes and corresponding cartesian coordinate should be related to that H is calculated, and complete hand and eye calibrating, wherein
H meets
In formula, u, v respectively indicate the pixel coordinate of nine hole arrays, and x, y respectively indicate flute of nine hole arrays under flange coordinate system
X, y value of karr coordinate.
7. a kind of compensation side of robot hole error-compensating apparatus suitable for curved-surface structure according to claim 4
Method, which is characterized in that the step four specifically:
4.1, using the angle of laser range sensor (4) measurement cutter (3) axis and datum hole (9) plane normal, according to folder
The measurement feedback at angle carries out robot end's pose adjustment, until the drift angle between datum hole part plan normal direction and tool axis
Reach within the scope of precision controlling；
4.2, laser range sensor (4) measuring basis hole (9) part plan to ring flange coordinate system x/y plane (7-1) is utilized
Distance h ' carries out robot end according to the measurement feedback of distance and adjusts relative to the height of datum hole part plan, until h '
Reach within the scope of precision controlling with the deviation of h；
4.3, using industrial camera (5) measuring basis hole (9) relative to intersection point between tool axis and datum hole (9) part plan
Between deviation, the adjustment of robot end position is carried out according to image feedback, until tool axis and datum hole plane point of intersection are to base
Deviation between quasi- Kong Kongxin reaches within the scope of precision controlling；
4.4, step 4.1, step 4.2, step 4.3 are repeated to three deviations while being reached in precision controlled range, is then remembered
Record the corresponding robotically-driven coordinate of datum hole (9) at this time.
8. a kind of compensation side of robot hole error-compensating apparatus suitable for curved-surface structure according to claim 4
Method, which is characterized in that the step five specifically:
The datum hole theory being calculated drives rotational transformation matrix R from coordinate to practical driving coordinate and translation transformation vector T
Meet the least square solution of following formula:
In formula, subscript R indicates coordinate under robot basis coordinates system, and subscript t, p respectively indicates coordinate theoretical value, coordinate driving value.
9. a kind of compensation side of robot hole error-compensating apparatus suitable for curved-surface structure according to claim 4
Method, which is characterized in that the calculating of the step six are as follows:
In formula, subscript R indicates coordinate under robot basis coordinates system, and subscript t, a respectively indicates coordinate theoretical value, coordinate predicted value.
10. a kind of compensation side of robot hole error-compensating apparatus suitable for curved-surface structure according to claim 4
Method, which is characterized in that the precision controlling range specifically: drilling location error is less than the drilling limits of error, direction
Error is less than the maximum allowable declination error of drilling, the worst error of laser range sensor of the range error less than twice.
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