[1]高晓兵,张正成,万 能.工业机器人工作空间约束下激光雷达站位规划[J].西安工业大学学报,2019,(03):282-288.[doi:10.16185/j.jxatu.edu.cn.2019.03.008]
 GAO Xiaobing,ZHANG Zhengcheng,WAN Neng.Planning of Laser Radar Station under Workspace Constraint of an Industrial Robot[J].Journal of Xi’an Technological University,2019,(03):282-288.[doi:10.16185/j.jxatu.edu.cn.2019.03.008]
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工业机器人工作空间约束下激光雷达站位规划()
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《西安工业大学学报》[ISSN:1673-9965/CN:61-1458/N]

卷:
期数:
2019年03期
页码:
282-288
栏目:
出版日期:
2019-06-20

文章信息/Info

Title:
Planning of Laser Radar Station under Workspace Constraint of an Industrial Robot
文章编号:
1673-9965(2019)03-0282-07
作者:
高晓兵1张正成1万 能2
(1.西安工业大学 机电工程学院,西安710021; 2.西北工业大学 机电学院,西安 710072)
Author(s):
GAO Xiaobing1ZHANG Zhengcheng1WAN Neng2
(1.School of Mechatronic Engineering,Xi’an Technological University,Xi’an 710021,China;2.School of Mechanical Engineering,Northwestern Polytechnical University,Xi’an 710072,China)
关键词:
激光雷达 站位规划 工业机器人 腕关节
Keywords:
laser radar station planning industrial robot wrist joint
分类号:
TN958.98; TP242
DOI:
10.16185/j.jxatu.edu.cn.2019.03.008
文献标志码:
A
摘要:
为了解决规划的激光雷达站位满足机器人的可达性问题,文中提出了融合工业机器人工作空间和激光雷达测量特性的站位规划约束模型。借助Denavit-Hartenberg(D-H)方法建立六自由度工业机器人各关节坐标系,采用包络法计算出腕关节的工作空间。依据规划的激光雷达姿态和雷达尺寸计算出激光雷达的可达范围。建立激光雷达站位坐标满足工业机器人可达性约束。结果表明:文中约束方法实现了雷达站位自动规划,验证了所提约束模型的有效性,为大跨度空间下机器人与测量设备结合应用提供了可行途径。
Abstract:
For the accessibility of industrial robots in the planning of a laser radar station,the paper proposes a station planning constraint model which combines industrial robot workspace with laser radar measurement characteristics.Firstly,the coordinate system of the joints of a six-degree-freedom industrial robot is established by D-H method,and the workspace of its wrist joints is calculated by the enveloping method.Then,the reachable range of laser radar is determined according to the posture and size of the laser radar to be planned.The constraint conditions of the laser radar station within the reachable range are established,so that the station planning can meet the accessibility constraints of industrial robots.Finally,the proposed constraint method is applied in an automobile company to verify its effectiveness.The study provides a feasible approach for robots working with measuring equipment in a large space.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2018-05-20基金资助:陕西省工业科技攻关资助项目(2015GY061); 西安工业大学校长基金(XAGXJJ17006)。第一作者简介:高晓兵(1979-),男,西安工业大学讲师,主要研究方向为非接触式测量技术,E-mail:ggcua@163.com。引文格式:高晓兵,张正成,万能.工业机器人工作空间约束下激光雷达站位规划[J].西安工业大学学报,2019,39(3):282-288.GAO Xiaobing,ZHANG Zhengcheng,WAN Neng.Planning of Laser Radar Station under Workspace Constraint of an Industrial Robot[J].Journal of Xi’an Technological University,2019,39(3):282-288.
更新日期/Last Update: 2019-06-20