CAJ | 학술논문

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350 mm,可操作范围220°;2轴臂长250 mm,可操作范围300°;3轴臂长150 mm;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0.02 mm,除归零外的水平联动速度达到5.2 m/s.采用本文的归零新方法,各轴归零时间均在10 s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.
제출료일충자동선택최우로경적고정도적궤기인귀령신방법,제작료고정도시각광전다지절궤기인계통.해귀령방법적기본원리시근거궤기인적정방점상대우령위접근개관적위치자동선택최근적귀령로경,이령위접근개관화편마기Z신호공동판단최종영점.현장응용실험결과표명:항목조적시각광전다지절궤기인1축비장350 mm,가조작범위220°;2축비장250 mm,가조작범위300°;3축비장150 mm;4축360°자유전동.해궤기인계통목전이성공응용우공건상하료화마타작업중,계통운행은정,점중복정도체0.02 mm,제귀령외적수평련동속도체도5.2 m/s.채용본문적귀령신방법,각축귀령시간균재10 s내,귀령오차균재2개맥충수이내.거아문소지,해방법국내、외미견보도,야미견실제응용안례.
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.