高精度视觉光电多指节机器人中的零点归位新方法

提出了一种自动选择最优路径的高精度的机器人归零新方法,制作了高精度视觉光电多指节机器人系统。该归零方法的基本原理是根据机器人的停放点相对于零位接近开关的位置自动选择最近的归零路径,以零位接近开关和编码器Z信号共同判断最终零点。现场应用实验结果表明:项目组的视觉光电多指节机器人1轴臂长350mm,可操作范围220?;2轴臂长250mm,可操作范围300°;3轴臂长150mm;4轴360°自由转动。该机器人系统目前已成功应用于工件上下料和码垛作业中,系统运行稳定,点重复精度达0.02mm,除归零外的水平联动速度达到5.2m/s。采用本文的归零新方法,各轴归零时间均在10s内,归零误差均在2个脉冲数以内。据我们所知,该方法国内、外未见报道,也未见实际应用案例。

A New Method of Homing of High-precision Visual Optical Robot with Multi-phalanges

A new method of high-precision homing of getting the optimal homing path automatically has been put forward, and a high-precision visual optical robot system with multi-phalanges has been made. The principle of this method is to compare the position where the robot stops with where the home photosensor is set, thus getting the optimal homing path automatically. The home point depends on signals from the home photosensor and the photoelectric encoder. This robot system works stably in industrial works, and has up to 0.02 mm precision and up to 5.2 m/s speed. The experiments and test results show that, with this new method, the homing time could be as short as 10s for each axes, within 2 pulse’ homing error. As far as we know, it has never been reported home and abroad for this method or application in visual optical robot system with multi-phalanges successfully.