Research on calibration method of intelligent assembly system based on multi sensor collaboration

An intelligent assembly system calibration method that integrates the three-dimensional eccentricity correction of the turntable and the collaborative calibration of multiple sensors (hybrid robots, turntables, line laser scanners, laser trackers) is proposed to address the problem of dispersed calibration processes and severe constraints on the global measurement accuracy of complex workpieces due to the accumulation of coordinate system conversion errors. Among them, the line laser scanner combines the geometric features of the calibration block to establish a coordinate system conversion relationship with the turntable. At the same time, based on the laser tracker, the global calibration of the base calibration system of the hybrid robot and the three dimensional geometric modeling of the turntable rotation center were carried out to solve the nonlinear error problem caused by the tilt and eccentricity of the rotation axis. The system was calibrated as a whole using the turntable and laser tracker coordinate system as the medium. The experiment shows that the above algorithm can reduce the calibration error between the line laser sensor and the axis pose from 0.10 mm to 0.06 mm, and robot position error reaches 0.08 mm, providing reliable technical support for precision engineering scenarios such as damage element assembly.