基于PMPSD的工业机器人几何参数标定方法
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摘要
针对由几何参数不精确引起工业机器人绝对定位精度低的问题,提出一种基于位姿修正位置敏感探测器的几何参数标定方法。通过建立误差运动学模型,使用位置敏感探测器(PSD)装置进行数据采样,利用位姿修正原理对末端激光器位姿和关节转角进行修正,构建模型约束目标函数,运用LM算法计算得到几何参数误差,修正几何参数名义值。实验结果表明,该方法避免了PSD反馈控制,能够快速实现工业机器人几何参数标定,定位平均误差和标准差分别为78.28%、76.38%,有效提高了机器人的定位精度。
Aiming at the problem that the geometric parameters are not accurate and the absolute accuracy of the industrial robot is low,a geometric parameter calibration method based on Pose Modify Position Sensitive Detector(PMPSD) is proposed. Through the establishment of the error kinematics model, and the PSD device is used to sample the data,the pose correction principle is used to correct the end laser pose and joint angle,and the model constraint objective function is established. The geometric parameters errors are obtained by using the LM algorithm,and the nominal values of geometric parameter are corrected by the parameter errors. Experimental results show that the method avoids PSD feedback control, and can quickly realize geometric parameters calibration of industrial robots,the positioning mean error and standard deviation are 78. 28% and 76. 38% respectively,it effectively improves the positioning accuracy of the robot.
Aiming at the problem that the geometric parameters are not accurate and the absolute accuracy of the industrial robot is low,a geometric parameter calibration method based on Pose Modify Position Sensitive Detector(PMPSD) is proposed. Through the establishment of the error kinematics model, and the PSD device is used to sample the data,the pose correction principle is used to correct the end laser pose and joint angle,and the model constraint objective function is established. The geometric parameters errors are obtained by using the LM algorithm,and the nominal values of geometric parameter are corrected by the parameter errors. Experimental results show that the method avoids PSD feedback control, and can quickly realize geometric parameters calibration of industrial robots,the positioning mean error and standard deviation are 78. 28% and 76. 38% respectively,it effectively improves the positioning accuracy of the robot.
引文
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[2]李睿,曲兴华.基于组合测量的机器人运动误差特性分析及定位补偿技术[J].机器人,2014,36(3):279-284.
[3]ZHANG J Y,ZHAO C,ZHANG D W.Pose Accuracy Analysis of Robot Manipulators Based on Kinematics[J].Advanced Materials Research,2011(201-203):1867-1872.
[4]洪鹏,田威,梅东棋,等.空间网格化的机器人变参数精度补偿技术[J].机器人,2015,37(3):327-335.
[5]ANGELIDIS A,VOSNIAKOS G C.Prediction and Compensation of Relative Position Error Along Industrial Robot End-effector Paths[J].International Journal of Precision Engineering Manufacturing,2014,15(1):63-73.
[6]周炜,廖文和,田威,等.基于粒子群优化神经网络的机器人精度补偿方法研究[J].中国机械工程,2013,24(2):174-179.
[7]BAI Y,WAN D.On the Comparison of Fuzzy Interpolation and Other Interpolation Methods in High Accuracy Measurements[C]//Proceedings of IEEE International Conference on Fuzzy Systems.Washington D.C.,USA:IEEEPress,2010:1-7.
[8]NGUYEN H N,ZHOU J,KANG H J.A Calibration Method for Enhancing Robot Accuracy Through Integration of an Extended Kalman Filter Algorithm and an Artificial Neural Network[J].Neurocomputing,2015,151(1):996-1005.
[9]JOUBIR A,NUBIOLA A,BONEV I.Calibration Efficiency Analysis Based on Five Observability Indices and Two Calibration Models for a Six-Axis Industrial Robot[J].Sae International Journal of Aerospace,2013,6(1):161-168.
[10]WANG W,LIU F,YUN C.Calibration Method of Robot Base Frame Using Unit Quaternion Form[J].Precision Engineering,2015,41(3):47-54.
[11]ASENSIO J,CHEN W,TOMIZUKA M,et al.Feedforward Input Generation Based on Neural Network Prediction in Multi-joint Robots[J].Journal of Dynamic Systems Measurement and Control,2014,136(3):833-846.
[12]MESSAY T,ORDONEZ R,MARCIL E.Computationally Efficient and Robust Kinematic Calibration Methodologies and Their Application to Industrial Robots[J].Robotics and Computer-integrated Manufacturing,2016,37(3):33-48.
[13]JOUBAIR A,BONEV I A.Kinematic Calibration of a Sixaxis Serial Robot Using Distance and Sphere Constraints[J].The International Journal of Advanced Manufacturing Technology,2015,77(1):515-523.
[14]WANG W,LI A,WU D.Robot Calibration by Observing a Virtual Fixed Point[C]//Proceedings of 2009 IEEEInternational Conference on Robotics and Biomimetics.Washington D.C.,USA:IEEE Press,2009:1351-1355.
[15]HU J S,WANG J J,CHANG Y J.Kinematic Calibration of Manipulator Using Single Laser Pointer[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems.Washington D.C.,USA:IEEE Press,2012:426-430.
[16]LIU Y,SHI D,DING J.An Automated Method to Calibrate Industrial Robot Kinematic Parameters Using Spherical Surface Constraint Approach[C]//Proceedings of IEEE International Conference on Cyber Technology in Automation,Control,and Intelligent Systems.Washington D.C.,USA:IEEE Press,2014:154-165.
[17]DU S,DING J,LIU Y.Industrial Robot Kinematic Calibration Using Virtual Lne-based Sphere Surface Constraint Approach[C]//Proceedings of 2015 IEEEInternational Conference on Cyber Technology in Automation,Control,and Intelligent Systems.Washington D.C.,USA:IEEE Press,2015:48-53.
[18]LIU Yong,XI Ning,SHEN Yantao.High-accuracy Positioning of an Industrial Robot Using Image/PSDbased Hybrid Servo Control[J].International Journal of Optomechatronics,2011,5(2):170-187.
[19]张文增,陈强,孙振国,等.弧焊机器人工件坐标系快速标定方法[J].焊接学报,2005,26(7):1-4.
[20]贾天祥,徐熙平,董文博.二维位置敏感探测器自动测试系统[J].仪表技术与传感器,2012(10):67-69.
[21]LIU Y,XI N,ZHANG G,et al.An Automated Method to Calibrate Industrial Robot Joint Offset Using Virtual Linebased Single-point Constraint Approach[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems.Washington D.C.,USA:IEEEPress,2009:715-720.
[22]周祥.工业机器人工具及工件坐标系的标定研究[D].南京:南京理工大学,2015.
[23]MADSEN K,NIELSEN H B,TINGLEFF O.Methods for Non-linear Least Squares Problems[EB/OL].(2004-10-21).http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf.
[24]蔡锦达,张剑皓,秦绪祥.六轴工业机器人的参数辨识方法[J].控制工程,2013,20(5):805-808.