一种应用平面约束的直角坐标机器人标定方法
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摘要
针对某逆流萃取串级实验装置的精准操作作业需求,对其中的直角坐标机器人的运动学标定方法展开了研究。采用DH参数法建立了运动学模型,并推导了位置误差模型;根据直角坐标机器人的构型特点,结合球面约束,提出了应用已知姿态平面约束的标定方法,并基于位置误差模型建立了该方法的求解模型;给出了基坐标系和平面姿态的确定方法;采用基于奇异值分解的广义最小二乘法迭代求解;最后借助Matlab对该方法进行了仿真验证。仿真结果表明了所提出的标定方法有效地提高了机器人的操作精度。
Aiming at the requirement of accurate operation of a string class experimental device for counter current extraction,the method of its Cartesian coordinate robot kinematic calibration is studied. By using DH approach,the kinematics model is established,then the model of position error is deduced. According to the configuration characteristics of Cartesian coordinate robot,using spherical constraints,a calibration method with the known orientation plane constraints is proposed,and a model for this method is established based on the model of position error. The method of determining the base coordinate frame and plane orientation is given. The iterative generalized least square solution based on singular value decomposition is adopted. In order to verify this method,a simulation is designed in Matlab finally. The results of simulation show that the proposed method can improve the operation precision of the robot effectively.
Aiming at the requirement of accurate operation of a string class experimental device for counter current extraction,the method of its Cartesian coordinate robot kinematic calibration is studied. By using DH approach,the kinematics model is established,then the model of position error is deduced. According to the configuration characteristics of Cartesian coordinate robot,using spherical constraints,a calibration method with the known orientation plane constraints is proposed,and a model for this method is established based on the model of position error. The method of determining the base coordinate frame and plane orientation is given. The iterative generalized least square solution based on singular value decomposition is adopted. In order to verify this method,a simulation is designed in Matlab finally. The results of simulation show that the proposed method can improve the operation precision of the robot effectively.
引文
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[2]叶声华,王一,任永杰.基于激光跟踪仪的机器人运动学参数标定方法[J].天津大学学报,2007,40(2):202-205.(Ye Sheng-hua,Wang Yi,Ren Yong-jie.Calibration of robot kinematicparameters based on laser tracker[J].Journal of Tianjin University,2007,40(2):202-205.)
[3]张秀珩,柳洪义,罗忠.旋量理论与CPA技术结合的机器人位置误差标定方法[J].机械设计与制造,2015(9):189-192.(Zhang Xiu-heng,Liu Hong-yi,Luo Zhong.Position error calibration ofmanipulators by CPA combined with screw theory[J].Machinery Design&Manufacture,2015(9):189-192.)
[4]张旭,郑泽龙,齐勇.6自由度串联机器人D-H模型参数辨识及标定[J].机器人,2016,38(3):360-370.(Zhang Xu,Zheng Ze-long,Qi Yong.Parameter identification and calib-ration of D-H model for 6-DOF serial robots[J].Robot,2016,38(3):360-370.)
[5]Joubair A,Slamani M,Bonev I A.Kinematic calibration of a five-bar pl-anar parallel robot using all working modes[J].Robotics and Computer-Integrated Manufacturing,2013,29(4):15-25.
[6]刘振宇,陈英林,曲道奎.机器人标定技术研究[J].机器人,2002,24(5):447-450.(Liu Zhen-yu,Chen Ying-lin,Qu Dao-kui.Research on robotcalibration[J].Robot,2002,24(5):447-450.)
[7]Joubair A,Bonev I A.Kinematic calibration of a six-axis serial robot usingdistance and sphere constraints[J].The International Journal of AdvancedManufacturing Technology,2015,77(1):515-523.
[8]Khalil W,Lemoine P,Gautier M.Autonomous calibration of robots usingplanar points[J].International Symposium on Robotics&ManufacturingISRAM,1996(3):383-388.
[9]Zhuang H,Motaghedi S H,Roth Z S.Robot calibration with planar const-raints[C].Proceedings of the 1999 IEEE International Conference on Ro-botics&Automation,Detroit,1999:805-810.
[10] Denavit J,Hartenberg R S.A kinematic notation for lower-pairmechanisms based on matrices[J].Trans.of the Asme.journal of AppliedMechanics,1955(22):215-221.
[11]任永杰,邾继贵,杨学友.基于距离精度的测量机器人标定模型及算法[J].计量学报,2008,29(3):198-202.(Ren Yong-jie,Zhu Ji-gui,Yang Xue-you.Measurement robot calibrationmodel and algorithm based on distance accuracy[J].Acta MetrologicaSinica,2008,29(3):198-202.)