Abstract
Aiming at the problem that the base coordinate system of industrial robot is not unified with the center coordinate system of tool, and it is impossible to input the action position in the robot teaching device, this paper adopts ROMER HEXAGON METROLOGY 7530SE three-coordinate measuring instrument as the robot measuring equipment and proposes a multi-objective normalization algorithm. In this paper, the reliability of the multi-objective normalization algorithm is verified by the experiment, and the measurement accuracy difference of the multi-objective normalization algorithm under different reference systems is studied. The results have shown that the accuracy of the system reaches 0.8 mm and the root mean square (RMS) value is maintained at 0.3-0.7 mm when the engine is taken as the reference coordinate system within the robot's 0-50mm motion stroke. When the body-in-white is used as the reference coordinate system, the accuracy of the system can reach 2.2 mm, the RMS value can be maintained at 1.0-1.8mm. The reasons for good accuracy and stability of the measurement system established with the engine as the reference coordinate are analyzed. The multi-objective normalization algorithm proposed in this paper has high engineering universality, and the accuracy analysis of the algorithm under different reference system has guiding significance for the selection of reference coordinate system of measurement system.
Highlights
With the rise of intelligent manufacturing, industrial robots are increasingly used in the fields of industrial manufacturing and auxiliary motion error accuracy measurement
Multi-objective normalization algorithm was proposed to solve the problem the base coordinate system of robot and its tool center point coordinate system are not unified, in addition, the target action position of components which was loaded by robot cannot be directly input into robot teaching device
The research result has shown that, within the 0-50mm motion stroke of robot, when the measurement system was built on body-in-white as the reference system, the measurement accuracy error reached 2.2 mm and the root mean square (RMS) value was maintained at 1.0-1.8 mm
Summary
With the rise of intelligent manufacturing, industrial robots are increasingly used in the fields of industrial manufacturing and auxiliary motion error accuracy measurement. When the robot assists the components motion to measure the components motion accuracy, the base coordinate system of the robot is not unified with the tool center point (TCP) coordinate system, it is impossible to input the components target position in the robot teaching device, which limits the application of the robot in the field of industrial measurement. Since this problem, many scholars have carried out relevant research. The reliability of the multi-objective normalization algorithm is verified through the experiment and the measurement accuracy of the algorithm under different reference system is studied and analyzed
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