基于多孔标定法的串联机器人运动学标定研究
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摘要
针对串联机器人传统标定方法有缺陷,使机器人标定后运动精度仍旧存在较大误差的问题,对串联机器人进行了运动学标定方法的研究。在单孔标定法的基础上进行了优化改进,提出了一种基于多孔标定法的串联机器人运动学标定技术,通过MDH误差模型计算出机器人的定位误差,然后将误差值进行了补偿,从而提高了机器人的运动精度;搭建了标定平台,通过自制的多孔标定板和探针等工具对多孔标定法的标定效果进行了实验研究,详细记录了实验数据,并将实验数据进行了处理和综合分析。研究结果表明:多孔标定法对该类型串联机器人的标定作用明显,有效地提高了机器人的定位精度,标定前后机器人的运动误差减小了数倍;该方法对该类型机器人的运动参数学标定具有极大的现实作用和意义,为机器人的进一步研究和应用奠定了良好的基础。
Aiming at the shortcomings of traditional calibration methods for serial robots, there were still large errors in the kinematic accuracy of the robot after calibration, kinematics calibration of serial robot was carried out. Based on single hole calibration method, optimization and improvement were made. A kinematics calibration technology of serial robot based on multi-hole calibration method was proposed.The positioning error of the robot was calculated by MDH error model, and then the error value was compensated to improve the motion accuracy of the robot. A calibration platform was built, and the calibration effect of the porous calibration method was studied by means of self-made porous calibration plate and probe. The experimental data were recorded in detail and processed and analyzed comprehensively. The results indicate that the multi-hole calibration method has a significant effect on the calibration of this type of serial robots, effectively improves the positioning accuracy of the robot, and reduces the motion error of the robot several times before and after calibration. The calibration of kinematic parameters of this type of robot has great practical significance and laid a good foundation for further research and application of the robot.
Aiming at the shortcomings of traditional calibration methods for serial robots, there were still large errors in the kinematic accuracy of the robot after calibration, kinematics calibration of serial robot was carried out. Based on single hole calibration method, optimization and improvement were made. A kinematics calibration technology of serial robot based on multi-hole calibration method was proposed.The positioning error of the robot was calculated by MDH error model, and then the error value was compensated to improve the motion accuracy of the robot. A calibration platform was built, and the calibration effect of the porous calibration method was studied by means of self-made porous calibration plate and probe. The experimental data were recorded in detail and processed and analyzed comprehensively. The results indicate that the multi-hole calibration method has a significant effect on the calibration of this type of serial robots, effectively improves the positioning accuracy of the robot, and reduces the motion error of the robot several times before and after calibration. The calibration of kinematic parameters of this type of robot has great practical significance and laid a good foundation for further research and application of the robot.
引文
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[2] 陈钢,贾庆轩,李彤,等.基于误差模型的机器人运动学参数标定方法与实验[J].机器人,2012,34(6):680-688.
[3] 常磊,熊瑞平,唐静莹,等.同估算法在6R机器人运动学逆解上的应用[J].机械,2017,44(4):5-9.
[4] 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.
[5] 崔鲲,吴林.遗传算法在冗余度弧焊机器人路径规划中的应用[J].机器人,1998,20(5):362-367.
[6] 张铁,戴孝亮.基于距离误差的机器人运动学标定[J].华南理工大学学报:自然科学版,2011,39(11):98-103.
[7] 宋月娥,吴林.弧焊机器人工具参数标定[J].焊接学报,2011,22(5):1-4.
[8] 熊烁,叶伯生,蒋明.机器人工具坐标系标定算法研究[J].机械与电子,2012(6):60-63.
[9] DRIELS M R,PATHRE U S.Robot manipulator kinematic com-pensation using a generalized jacobean formulation[J].Journal of Robotic System,1987,4(2):259-280.
[10] 刘振宇,陈英林.机器人标定技术研究[J].机器人,2002,24(5):447-450.
[11] 岳翠萍,刘新乐,冯巍.机器人压盖机[J].包装与食品机械,2017(5):52-54.
[12] 阎思达,陈雁,陈文卓,等.加油机器人运动学研究[J].液压气动与密封,2017(10):49-52.
[13] VEITSCHEGGER W K,WU C H.Robot calibration and compensation[J].Journal of IEEE Robotics & Automation,1988,4(6):643-656.
[14] CHEN IM,YANG G,TAN CT,et al.Local POE model for robot kinematic calibration[J].Mechanism and Machine Theory,2011,36(11):1215-1239.
[15] KAZEROUNIAN K,QIAN GZ.Kinematic calibration of an industrial manipulator[J].ASME Journal of Mechanism and Mechine Theory,2017,36(11-12):1215-1239.