基于高斯牛顿法的可匹配机器人高精度自动抓放料方法

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

摘要:

为了提高可匹配机器人抓料和放料精度，降低抓放料过程中的次品率，提出了基于高斯牛顿法的可匹配机器人高精度自动抓放料方法。通过可匹配机器人抓放料工作站，放置工件原料和成品，针对可匹配机器人夹取能力，设计机器人夹具结构，优化爪臂和驱动装置，增加防滑胶套，设计可匹配机器人自动抓料和放料装置。建立可匹配机器人移动坐标系，构建可匹配机器人自动抓放料数学模型，采用高斯牛顿法，根据泰勒级数展开式，迭代求解可匹配机器人自动抓放料数学模型。利用动态机械工具位姿，调整机器人自定义世界坐标系位姿，校正可匹配机器人自动抓放料误差，实现可匹配机器人高精度自动抓放料。实验结果表明，所提方法的平均抓料和放料准确率分别为92%和95%，抓料和放料过程中次品率分别为0.89%和0.64%，能够有效提高抓料和放料精度，降低抓料和放料过程中次品率。

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.