Research On Position And Posture Control And Precision Compensation Technology Of Vision Guided Robot

With the concept “Made in China 2025” put forward and implemented,and the implementation of large-scale aircraft,civil aerospace and other projects organized by the state,industrial robots are increasingly used in the aviation manufacturing industry for parts processing and flexible automatic assembly.In the manufacturing process of aviation parts,there are a lot of drilling work,the quality and efficiency of drilling directly affect the quality and reliability of the aircraft.As an important factory parameter index of industrial robots,the precision of repetitive positioning is often very high.But its absolute positioning precision can not meet the requirements of aircraft parts manufacturing and assembly for the time being.Therefore,the improvement of the absolute positioning accuracy of industrial robots has become the primary key technology that needs to be broken through.Based on the platform of FANUC R2000ic-165 F industrial robot,assisted by visual guidance,this paper studies the position and orientation control and precision compensation technology of robot hole making.The main research contents are as follows:Firstly,the kinematics of FANUC robot is analyzed and the normal pose of hole making is determined.The D-H link parameter method is used to model the kinematics of FANUC robot,and the forward and reverse kinematics are solved based on the established model.Establish the position relationship among visual camera,tool tip point and hole position.Based on the vision technology,the position and normal information of the hole are obtained,and the inverse kinematics of the hole are obtained,and the inverse kinematics of the hole is solved.With the help of MATLAB Robotics Toolbox,the established kinematic model is verified by simulation,and the accuracy of the model is verified by forward and inverse solution operation.Secondly,on the basis of kinematic analysis,the factors causing the positioning error of industrial robot are analyzed.Based on the geometric error of connecting rod parameters,the positioning error model of FANUC R2000ic-165 F industrial robot is established by using the principle of differential transformation.The model is verified by simulation according to the identified geometric parameter errors and position.Based on the positioning error model established by the robot,the Newton Raphson iterative algorithm is used to compensate the accuracy of the robot.By comparing the ideal target position of industrial robot with the actual position after compensation,the actual effect of compensation is verified.Thirdly,according to the field equipment situation,practical application demand and the goals to be achieved.Siemens S7-300 series 315-2DP is used as its CPU,and the PLC and the communication between PLC and FANUC robot is based on Profibus-DP protocol.The hardware configuration and the corresponding I/O address assignment are completed based on TIA Portal software,and the PLC control program is compiled.The MFC module in VS2015 is used to write the window program of camera connection in C language to display the visual image.Finally,the experiment platform is built for comparative analysis of machining experiments,and the position accuracy of the hole after drilling is detected by the ultra depth of field microscope,so as to verify the accuracy of the positioning error model and its simulation results,and the effect of the robot's hole making position control and precision compensation.