Mobile robot high-precision processing method based on visual servo

Abstract

The invention discloses a mobile robot high-precision processing method based on visual servo. The method comprises the following steps: relative pose relations T1TL and BTL of a laser tracker coordinate system to a workpiece local target coordinate system and a workpiece overall coordinate system are calibrated, and a relative pose relation T1TB of the workpiece local target coordinate system tothe workpiece overall coordinate system is calculated; local target points are shot to determine a relative pose relation T1TC of the workpiece local target coordinate system to a visual coordinate system; a relative pose relation R1TB of a robot base coordinate system to the workpiece overall coordinate system is calculated through robot kinematics; errors of an actual position of a milling terminal and a theoretic position are updated in real time; and each joint corner of a robot is compensated through robot inverse kinematics. The method adopts a visual system for large component processing reference conversion, mobile robot precise positioning and robot processing precision compensation to realize high-efficiency and high-precision processing of large components in such fields as aerospace, rail traffic and energy.

Description

technical field [0001] The invention belongs to the technical field of high-precision machining of robots, and in particular relates to a high-precision machining method of a mobile robot based on visual servoing. Background technique [0002] With the increase of my country's demand in the field of major structural parts manufacturing, its high-precision and high-flexibility manufacturing characteristics pose new challenges to processing equipment. For example, a large sealed cabin structure with a diameter of more than 3 meters and a length of more than 10 meters needs to be processed as a whole in order to ensure that its function and accuracy meet the requirements of the design specifications. Existing machine tools are difficult to meet the requirements of the processing range. Efficient and high-precision manufacturing of large components has become a It is the main bottleneck restricting the development of my country's high-end manufacturing industry. The manufacturin...

AI Technical Summary

Problems solved by technology

The patent "On-line Calibration Method for Relative Pose of Dual Robots Based on Vision" CN108519055A only obtains the relative pose relationship between the base coordinate systems of the dual robots, but does not obtain the relative pose relationship between the workpiece to be processed and the robot, and cannot Elimination of positioning errors at the end of the machining robot

In addition, there is a solution to use a laser tracker to compensate the absolute positioning accuracy error at the end of the robot processing process, but this solution has problems such as expensive equipment and cumbersome operation

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