研究目的
To propose a method for the calibration of the parameters describing the precise position of the 3D laser scanner optics in respect to the robot and to compensate for deviations introduced by the robot using an external measuring system.
研究成果
The work presents a successful implementation of an alternative to separating machining processes for the automotive and aerospace industries, particularly for components made of high-performance materials of large and complex geometries. The approach offers great potential for further applications, with suggestions for improvements including the development of a mathematical model for 3-dimensional scanner optics and the implementation of a real-time controller for synchronized control of the actuator, measuring system, and scanner optics.
研究不足
The approach relies on the accuracy of the external measuring system and the calibration of the scanner optics parameters. The absolute accuracy of the scanner optics and the effect of thermal deviations on the scanner optics warrant further investigation.
1：Experimental Design and Method Selection:
The methodology involves the combination of standard industrial robots with laser scanner optics and the use of an external measuring system for calibration and deviation compensation.
2：Sample Selection and Data Sources:
The setup includes an industrial robot, laser scanner optics mounted on the robot flange, a laser measurement system, and a Cali-Box for measuring the laser spot coordinates.
3：List of Experimental Equipment and Materials:
Equipment includes a Fanuc M-710iC/70 robot, Arges Elephant 3D scan head, IPG laser source, Leica AT401 laser tracker, Etalon Multiline system, and an Optris PI 400 camera.
4：Experimental Procedures and Operational Workflow:
The process involves positioning the laser beam precisely on the workpiece, calibrating the scanner optics parameters, and compensating for robot deviations using the external measuring system.
5：Data Analysis Methods:
The data analysis involves calculating the deviation between the measured position of the laser spot coordinates and the predicted ones, and minimizing an objective function to identify the optimal parameters.
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