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基于高斯牛頓法的可匹配機器人高精度自動(dòng)抓放料方法
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新疆工程學(xué)院,信息工程學(xué)院

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High precision automatic grasping and discharging method of matching robot based on Gauss Newton method
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    摘要:

    為了提高可匹配機器人抓料和放料精度,降低抓放料過(guò)程中的次品率,提出了基于高斯牛頓法的可匹配機器人高精度自動(dòng)抓放料方法。通過(guò)可匹配機器人抓放料工作站,放置工件原料和成品,針對可匹配機器人夾取能力,設計機器人夾具結構,優(yōu)化爪臂和驅動(dòng)裝置,增加防滑膠套,設計可匹配機器人自動(dòng)抓料和放料裝置。建立可匹配機器人移動(dòng)坐標系,構建可匹配機器人自動(dòng)抓放料數學(xué)模型,采用高斯牛頓法,根據泰勒級數展開(kāi)式,迭代求解可匹配機器人自動(dòng)抓放料數學(xué)模型。利用動(dòng)態(tài)機械工具位姿,調整機器人自定義世界坐標系位姿,校正可匹配機器人自動(dòng)抓放料誤差,實(shí)現可匹配機器人高精度自動(dòng)抓放料。實(shí)驗結果表明,所提方法的平均抓料和放料準確率分別為92%和95%,抓料和放料過(guò)程中次品率分別為0.89%和0.64%,能夠有效提高抓料和放料精度,降低抓料和放料過(guò)程中次品率。

    Abstract:

    In order to improve the grabbing and discharging accuracy of the matching robot and reduce the defective rate in the process of grabbing and discharging, a high-precision automatic grabbing and discharging method of the matching robot based on Gauss Newton method is proposed. According to the clamping ability of the matching robot, the structure of the robot fixture is designed, the claw arm and driving device are optimized, the anti-skid rubber sleeve is added, and the automatic material catching and discharging device of the matching robot is designed. The moving coordinate system of the matching robot is established, and the mathematical model of the automatic grasping and discharging of the matching robot is constructed. The Gauss Newton method is used to solve the mathematical model of the automatic grasping and discharging of the matching robot iteratively according to the Taylor series expansion. By using the dynamic mechanical tool posture, adjust the robot's self defined world coordinate system posture, correct the matching robot's automatic grasping and discharging error, and realize the matching robot's high-precision automatic grasping and discharging. The experimental results show that the average accuracy of the proposed method is 92% and 95% respectively, and the defective rate is 0.89% and 0.64% respectively, which can effectively improve the accuracy of the method and reduce the defective rate.

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代康,秦健勇,謝凱.基于高斯牛頓法的可匹配機器人高精度自動(dòng)抓放料方法計算機測量與控制[J].,2021,29(9):115-120.

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歷史
  • 收稿日期:2021-05-31
  • 最后修改日期:2021-07-14
  • 錄用日期:2021-07-15
  • 在線(xiàn)發(fā)布日期: 2021-09-23
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