一种在轴孔装配中零件内孔方位误差的校正方法
刘传凯; 乔红; 苏建华; 张波
2010-01-20
Date Available2011-07-20
CountryCN
Subtype发明
Abstract本发明是一种在轴孔装配中零件内孔方位误差的校正方法,该方法将六轴机械臂第六轴末端的摄像头移动到零件内孔的上方;提取出摄像头的零件内孔图像中形成的环形区域外边缘和内边缘;通过空间变换算法将环形区域外边缘和内边缘变换成两条二维曲线;根据这两条二维曲线计算出环形区域外边缘和内边缘的位置关系,进而确定零件内孔的偏移误差,然后将机器人向着减小误差的方向进行重复调整,直至计算出的角度偏移误差在允许范围以内。本发明设计出的装配误差快速校正算法,能够大大降低了在零件轴和零件内孔装配过程中夹具对零件夹取精度的要求,提高自动化零件轴和零件内孔装配的成功率。
Patent NumberCN201010034357.3
Status授权
Document Type专利
Identifierhttp://ir.ia.ac.cn/handle/173211/8526
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Affiliation中国科学院自动化研究所
First Author Affilication中国科学院自动化研究所
Recommended Citation
GB/T 7714
刘传凯,乔红,苏建华,等. 一种在轴孔装配中零件内孔方位误差的校正方法. CN201010034357.3[P]. 2010-01-20.
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