机器人三维扫描加工系统与提高加工精度的新方法

ppling the robot scanning system into industrial machining，a robot online measurement and machining system is constructed。Aiming at the low measurement and machining accuracy due to the positioning error of robot, a sphere with known diameter is taken as calibration tool, the pose of the portable scanner relative to the robot is calibrated accurately by scanning the sphere and computing the center position of the sphere. Meanwhile, a new method that using virtual tool and pre-compensate system error is proposed to increase the machining accuracy. Base on the robot scanning and machining system, a reference point in laser plane illuminated from laser scanner is chosen as the virtual tool’s TCP. The scanning data can be obtained and feature analysis is performed to detect the machining targets from the scanning data. The virtual machining path can be created according to the virtual tool’s TCP and the machining targets. When robot runs the virtual machining path, the system error will be compensated and the corresponding robot’s position will be updated. By changing the virtual tool to factual tool, the factual machining path can be created from virtual cutting path The machining targets will be machined accurately when robot runs the factual machining path, which realize the integration of measurement and machining. The experiment result shows that this method is effective and robust and the 0.15mm of machining accuracy is obtained.