机器人基坐标系精确标定的对偶四元数法

发布时间：2018-01-16 20:26

本文关键词：机器人基坐标系精确标定的对偶四元数法　出处：《北京邮电大学学报》2017年01期 　论文类型：期刊论文

【摘要】：针对离线编程系统中机器人在世界坐标系下的位姿描述问题,提出一种利用对偶四元数精确标定机器人基坐标系的方法.首先在利用指数积公式建立机器人正运动学模型的基础上,推导了基于单位对偶四元数表示法的机器人基坐标系标定模型,该模型将世界坐标系与机器人基坐标系之间坐标转换的旋转与平移过程进行统一描述;其次,以对偶四元数的几何性质为约束条件,建立最小方差目标方程,引入拉格朗日乘子法求解最优的位姿变换矩阵;最后,对6自由度串联机器人进行了标定实验.实验结果表明,该标定方法可以有效解决工业应用环境中机器人的基坐标系标定问题,同时也为机器人手眼标定、多机器人协作基坐标系标定问题提供了参考依据.
[Abstract]:Aiming at the problem of robot's position and pose description in the world coordinate system in off-line programming system. In this paper, a method of calibrating robot base coordinate system using dual quaternion is presented. Firstly, the forward kinematics model of robot is established by using exponential product formula. The calibration model of robot base coordinate system based on unit dual quaternion representation is derived. The rotation and translation process of coordinate transformation between the world coordinate system and the robot base coordinate system is described in a unified way. Secondly, taking the geometric property of dual quaternion as the constraint condition, the minimum variance objective equation is established, and the Lagrange multiplier method is introduced to solve the optimal pose transformation matrix. Finally, the calibration experiments of a 6-DOF series robot are carried out. The experimental results show that the calibration method can effectively solve the calibration problem of the robot in the industrial application environment. At the same time, it also provides reference for robot hand-eye calibration and multi-robot coordinate system calibration.
【作者单位】：北京邮电大学自动化学院;
【基金】：北京科委重大科技专项项目(141100003514003)
【分类号】：TP242
【正文快照】： 随着机器人离线编程技术在焊接、喷涂等加工行业中的应用和发展,机器人标定作为离线编程技术实用化的关键之一,是提高机器人定位精度有效的手段.为了实现机器人离线规划时实际作业对象与离线仿真环境中模型对象的调整与匹配,需要标定出机器人基坐标系与世界坐标系之间的转换关

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