基于标定及补偿提高串联机器人定位精度方法

发布时间：2018-01-11 00:06

本文关键词：基于标定及补偿提高串联机器人定位精度方法　出处：《北京航空航天大学学报》2017年01期 　论文类型：期刊论文

更多相关文章： 机器人 标定 等价变换法 补偿 定位精度

【摘要】：在使用串联机器人进行定位操作前,首先需要对机器人基坐标系与测量坐标系进行位姿关系的标定,针对具有隐藏机器人基坐标系以及机器人法兰坐标系的串联机构,本文提出一种等价变换思想并结合应用激光跟踪仪测得机器人末端靶标点的坐标数据建立标定矩阵方程,应用罗德里格矩阵变换将标定方程转化为三元二次矩阵方程形式,采用最小二乘法和牛顿迭代法求出数值解进而完成机器人基坐标系与测量坐标系标定的方法。然后应用这种方法进行标定试验得到了20组标定结果,通过比较标定结果偏差进而验证了这种方法的正确性。最后,本文验证了应用这种标定方法的标定结果并结合一种新的位姿补偿算法后,能极大地提高机器人末端的定位精度。
[Abstract]:It is necessary to calibrate the position and attitude relationship between the basic coordinate system and the measurement coordinate system before using the serial robot to locate the position. Aiming at the series mechanism with hidden robot base coordinate system and robot flange coordinate system. In this paper, an equivalent transformation idea is proposed and the calibration matrix equation is established by using the coordinate data of the target points at the end of the robot measured by the laser tracker. The calibration equation is transformed into a ternary quadratic matrix equation by using Rodrigo matrix transformation. The method of calibrating robot base coordinate system and measuring coordinate system is obtained by using the least square method and Newton iteration method, and then 20 groups of calibration results are obtained by using this method in calibration experiments. The correctness of this method is verified by comparing the deviation of calibration results. Finally, this paper verifies the calibration results using this calibration method and a new position and pose compensation algorithm. It can greatly improve the positioning accuracy of the robot end.
【作者单位】：北京航空航天大学机械工程及自动化学院;
【基金】：国防基础科学研究计划(A0320132007) 国家科技重大专项(2010ZX04007-052)~~
【分类号】：TP242
【正文快照】： 网络出版地址:www.cnki.net/kcms/detail/11.2625.V.20160504.1406.002.html引用格式:范明争,韩先国.基于标定及补偿提高串联机器人定位精度方法[J].北京航空航天大学学报,2017,43(1):176-183.FAN M Z,HAN X G.Precision improvement method for serial robot localization ba

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