基于线误差的机器人自身参数标定研究

发布时间：2018-05-22 19:59

本文选题：工业机器人 + 运动学模型　；参考：《天津工业大学》2017年硕士论文

【摘要】：随着工业机器人应用领域的不断扩大及其技术的不断发展,工业生产中对机器人的性能要求也越来越高,尤其是高精度的工业机器人。精度作为评价工业机器人性能的重要指标,而评价工业机器人精度的主要指标有两个,重复定位精度和绝对定位精度。目前,工业机器人的重复定位精度普遍具有较高的重复定位精度,但其绝对定位精度还不能满足一些工业生产的需求。因此,探索找到一种提高机器人绝对定位精度的方法是提高工业机器人性能的关键技术之一。本文通过对六自由度工业机器人的结构进行研究,分析六自由度工业机器人的运动学特点。创新的利用高精度拉绳编码器建立标定平台,应用运动学标定的方法提高工业机器人的绝对定位精度,使其满足工业生产的需要,对提高工业机器人的性能有十分重大的意义。本文的主要研究内容如下:1.建立线误差标定平台。利用高精度的拉绳编码器采集现场数据,用拉绳编码器的实际拉绳的长度与机器人工具末端实际距用户坐标系原点的距离之差衡量机器人的绝对定位精度。2.建立运动学模型及误差模型。结合六自由度工业机器人的结构特点,为避免平行关节间的微小偏差,采用MDH方法建立六自由度工业机器人的各个关节坐标系,完成其运动学模型及其对应的误差模型的建立。3.验证线误差标定方法的可行性。根据上面建立的运动学模型及其误差模型,采用建立好的线误差标定平台对六自由度工业机器人进行实验标定。实验结果表明,采用该运动学标定的方法使机器人的绝对定位精度提高了 75%。
[Abstract]:With the continuous expansion of the industrial robot application field and the development of the technology, the performance of the robot is required more and more in the industrial production, especially the high-precision industrial robot. Precision is an important index to evaluate the performance of industrial robots, and there are two main indexes to evaluate the accuracy of industrial robots, namely, repetitive positioning accuracy and absolute positioning accuracy. At present, the repetitive positioning accuracy of industrial robots is generally high, but its absolute positioning accuracy can not meet the needs of some industrial production. Therefore, it is one of the key technologies to improve the performance of industrial robots to find a way to improve the absolute positioning accuracy of robots. In this paper, the kinematics characteristics of six degrees of freedom industrial robot are analyzed by studying the structure of six degree of freedom industrial robot. Using high precision rope encoder to establish calibration platform and kinematics calibration method to improve the absolute positioning accuracy of industrial robot to meet the needs of industrial production is of great significance to improve the performance of industrial robot. The main contents of this paper are as follows: 1. Establish line error calibration platform. Using the high precision rope encoder to collect the field data, the absolute positioning accuracy of the robot is measured by the difference between the actual length of the rope pulling encoder and the distance between the actual distance between the end of the robot tool and the origin of the user coordinate system. Kinematics model and error model are established. In order to avoid the small deviation between parallel joints, the MDH method is used to establish the coordinate system of each joint of the six-degree-of-freedom industrial robot, and the kinematics model and the corresponding error model are established. The feasibility of line error calibration method is verified. According to the kinematics model and the error model established above, the 6-DOF industrial robot is calibrated experimentally by using the established linear error calibration platform. The experimental results show that the kinematics calibration method can improve the absolute positioning accuracy of the robot by 75%.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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