Research On Trajectory Planning Of Shape Measurement Robot Based On Control Of Normal Precision

Generally,a 3D shape measurement system requires flexibility,precision and automation to image a complex curve.Industrial robot,as a typical compliant motion platform,is a quite flexible instrument.Robot,combined with optical non-contact Morphology sensor which has the advantage in resolution ratio and measurement speed,constitutes a measurement system that possesses advantages of both systems.However,the traditional way based on online teaching gives a quite low efficiency.Therefore,this paper presents a new method to measure 3-D curves.This method is based on CAD digifax and plan the path by off-line programming.Also,the normal precision is controlled.This paper study about the positive and inverse solutions of robot kinematics and path planning techniques and provide a new method of self-adaptive stationing which can improve the efficiency and accuracy.The matching of the off-line and real environment is considered in both tool and workpiece sides.Finally,the shape measurement is simulated and downloaded to the robot with the help of Delmia off-line programming system and accomplish the measurement.In this study,the system is composed of ATOS spatial digitizer,Yaskawa HP20 D robot and Delmia system developed by Dassault Company.The system insure that the normal direction of measurement path and the measured objects keep consistent at any moment.Normal precision simulation and experimental verification are proceeded.The results show that the error of the place of TCP is less than 0.099 mm,and the error of angle is less than 0.118°.The accuracy of the proposed system is verified so that the measurement requirements can be satisfied by this system.