基于球杆仪的三自由度串联机械臂运动学标定方法研究

发布时间：2018-06-25 15:10

本文选题：机械臂 + 球杆仪　；参考：《机械强度》2017年06期

【摘要】：考虑所标定机械臂的几何结构特点,采用修正五参数法描述参数误差并建立机械臂末端位置误差模型;在机械臂零位标定基础上,采用单球杆一次安装测得标定所需数据;基于机械臂和球杆仪所组成闭链的几何约束条件和末端位置误差模型建立参数误差辨识模型,并用非线性最小二乘迭代法求得几何参数误差。完成了标定实验,并采用综合误差补偿法进行了机械臂误差补偿。在给定的两条测试轨迹上,球杆长度变化差分别由标定前的0.395 mm、0.456 mm减小到标定后的0.005 mm、0.010 mm。研究表明:该标定方法有效正确,提高了机械臂的位置精度。
[Abstract]:Considering the geometric characteristics of the calibrated manipulator, the modified five-parameter method is used to describe the error of the parameters and to establish the error model of the end position of the manipulator, and on the basis of the zero-position calibration of the manipulator, the data needed for calibration are obtained by using a single ball rod. The parameter error identification model is established based on the geometric constraint condition and the end position error model of the closed chain composed of the manipulator and the ball rod, and the geometric parameter error is obtained by the nonlinear least square iterative method. The calibration experiment is completed, and the error compensation of the manipulator is carried out by the comprehensive error compensation method. On the given two test tracks, the variation difference of the length of the ball rod is reduced from 0.395 mm to 0.010 mm respectively from 0.395 mm / 0. 56 mm before calibration to 0.005 mm / 0. 010 mm after calibration. The results show that the calibration method is effective and accurate, and the position accuracy of the manipulator is improved.
【作者单位】：西安理工大学机械与精密仪器工程学院;
【基金】：陕西省教育厅科研计划项目(11JS073,12JK0684)资助~~
【分类号】：TH113.2

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