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针对激光加工机器人工作环境的多样性,为了提高激光加工机器人的标定精度,提出一种基于AFSA-RVM的激光加工机器人标定方法。首先分析激光加工机器人的运动学模型,并建立了激光加工机器人误差估计的数学模型,然后采用相关向量机对激光加工机器人的误差进行建模与补偿,并采用AFSA对相关向量机进行优化,最后采用具体应用实例对激光加工机器人的标定性能进行测试。结果表明,本文方法可以有效对激光加工机器人标定误差进行补偿,获得了较高的激光加工机器人标定精度,而且标定结果要优于其它的激光加工机器人标定方法。
Aiming at the diversity of working environment of laser processing robots, in order to improve the calibration accuracy of laser processing robots, a method of laser processing robot calibration based on AFSA-RVM is proposed. Firstly, the kinematics model of laser processing robot is analyzed, and the mathematical model of laser processing robot error estimation is established. Then, the error of laser processing robot is modeled and compensated by using correlation vector machine, and the correlation vector machine is optimized by AFSA. Finally, The practical application of the laser processing robot calibration performance test. The results show that the method proposed in this paper can effectively compensate the calibration errors of laser machining robots and obtain high calibration accuracy of laser machining robots. The calibration results are superior to other laser machining robot calibration methods.