邾继贵 郭磊 刘常杰 林嘉睿 叶声华
（天津大学精密测试技术及仪器国家重点实验室 天津 300072）
摘要：针对工业生产中常用的专用实物检具成本高、柔性差、自动化程度低的缺点，提出一种工业机器人柔性电子检具测量系统。以工业机器人为柔性自动化平台，将视觉传感器固定于机器人末端工具上，利用机器人示教功能规划测量路径，通过全局标定技术将局部测量结果统一到全局坐标系中。考虑测量过程中机器人重复定位误差是影响系统整体精度的主要因素之一，采用光学精密测量方法，将另一相机作为控制相机，利用摄像测量技术结合固定于支撑部件上的全局控制点测量机器人重复定位误差，实时补偿整体测量结果。将测量数据与CAD数模比对，构造虚拟柔性电子检具功能。实验显示，系统测量14个空间点的三维总体均方根误差为0.101mm。结果表明，提出的方法原理正确，能够克服实物检具费用高、浪费严重、人为因素影响检测精度的局限。
关键词：精密工业测量 柔性电子检具 工业机器人 近景摄影测量 激光视觉测量
中图分类号：TP242.2；TP274.5 文献标识码：A doi：10.3788/OPE.20111908.1787
Measurement system of flexible electronic checking fixture on robot
ZHU Jigui GUO Lei LIU Changjie LIN Jiarui YE Shenghua(www.xing528.com)
（State Key Laboratory of Precision Measurement Technology and Instruments，Tianjin University Tianjin 300072）
收稿日期：2010-11-16；修订日期：2011-01-15。
基金项目：国家自然科学基金重点资助项目（No.50735003）；国家自然科学基金资助项目（No.50805105）；天津市应用基础及前沿技术研究计划资助项目（No.09JCZDJC26700）；天津市科技支撑项目（No.08ZCGYGX11800）。
Abstract：A new measuring system of flexible electronic checking fix ture on an industrial robot was pro posed to overcome the shortcomings of the real special checking fixtures commonly used in indus-trial production with high costs，poor flexibility and low automation.A vision sensor was fixed on the terminal tool of the industrial robot taken as the flexible automation platform.By teaching the ro-bot to run the programmed measuring path，the every local sensor system was unified to the global system by global calibration technology.As the repetitive position error of the robot in this process is an important influencing factor on the overall system accuracy，an optical precise measuring method was presented to compensate the whole measuring results in real-time via measuring the repetitive position error by taking another camera as a control camera and combining with global control pointsfixed on the supporting assembly.Finally，the obtained results were campared with CAD digital module in a computer to realize the virtual flexible checking fixtrue function.Experimental result in-dicates that the overall three dimensional root mean square（RMS）error of fourteen space points is0.101mm，which shows that the principle of method is reasonable.It overcomes the limitation of real checking fixture in high cosl，heavy waste and accuracy affected by personal errors.
Keywords：precision imdustrial measurement flexible electronic checking fixlure industrial robol close-range photogrammetry laser-vision measurement
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