面向智能化增量制造的机器人系统理论及工艺研究

本项目以实现机器人智能化增量制造为目标。本项目以现有的增量制造机器人系统及研究成果为基础，研究机器人智能化增量制造的核心理论与关键技术：(1) 发展高时空分辨率、高精度的三维检测与控制理论与技术，包含高时空分辨率的最优编码方法和基于编码相位的视觉伺服理论；（2）研究最优轨迹规划与在线调整理论与方法，包含最优轨迹规划方法和基于实时三维检测的在线轨迹调整方法；（3）探索机器人增量制造工艺参数规律与优化方法，包含机器人增量制造工艺参数规律和机器人增量制造多工艺参数优化方法；（4）研究增量制造设计优化及精度评价理论与方法，包含基于结构拓扑的设计优化理论和基于点云序列融合的精度评价方法。通过上述内容的研究，本项目将解决智能化增量制造机器人的核心理论与关键技术，推广增量制造的应用。

The objective of this project is to realize the intelligent additive manufacturing by robot. On the basis of our additive manufacturing robotic system and research outcomes, we investigate the core theory and key technique of robot for intelligent additive manufacturing: (1) development of theory and technique for high space-time resolution 3D inspection and control, including optimal pattern encoding for high space-time resolution inspection and encoded phase-based visual servoing; (2) study on theory and technology for optimal path planning and online adjustment, including optimal path planning and online adjustment based on real-time 3D inspection; (3) exploration of process parameter rule and optimization for robotic additive manufacturing, including process parameter rule and multiple process parameter optimization for robotic additive manufacturing; (4) study on optimization design and accuracy evaluation theory and method for robotic additive manufacturing, including structure topology-based optimization design and accuracy evaluation base on fusion of point cloud sequence. The core theory and key technique of intelligent additive manufacturing by robot will be solved through above studies, resulting in application promotion of additive manufacturing.