基于轴线法与卡尔曼滤波的Baxter机器人标定

发布时间：2018-07-18 15:22

【摘要】：为提高Baxter机器人的绝对定位精度,首先根据机器人操作系统(robot operating system,简称ROS)的通用机器人模型统一机器人描述格式(unified robot description format,简称URDF)文件,详细分析了Baxter机器人的运动学模型,通过建立坐标间的约束条件进行模型简化,并提取待标定参数。针对机器人的多参数模型以及非几何参数影响较大的情况,提出一种结合轴线测量法与卡尔曼滤波系统辨识法的分步标定方法,分析了针对URDF模型的轴线法和卡尔曼滤波的标定原理,最后分别利用Matlab和激光跟踪仪进行仿真和实验验证。对Baxter机器人标定结果表明,该标定方法能够获得较准确的运动学几何参数,适用于ROS搭建的多几何参数的机器人及关节柔性较大的机械臂。
[Abstract]:In order to improve the absolute positioning accuracy of the Baxter robot, the kinematics model of the Baxter robot is analyzed in detail according to the universal robot model of the robot operating system (robot operating system, (Ros) and the unified robot description format (unified robot description format,) file. The model is simplified by establishing constraints between coordinates and the parameters to be calibrated are extracted. In view of the influence of multi-parameter model and non-geometric parameters on robot, a step calibration method combining axis measurement method and Kalman filter system identification method is proposed. The calibration principle of axis method and Kalman filter for URDF model is analyzed. Finally, Matlab and laser tracker are used for simulation and experimental verification. The calibration results of Baxter robot show that the calibration method can obtain more accurate kinematic geometric parameters, and it is suitable for the robot with multiple geometric parameters built by Ros and the manipulator with flexible joints.
【作者单位】：华南理工大学广东省精密装备与制造技术重点实验室;华南理工大学机械与汽车工程学院;
【基金】：国家自然科学基金资助项目(51505151) 广州市科技计划资助项目(2015090330001) 机械系统与振动国家重点实验室课题资助项目(MSV 201605)
【分类号】：TP242

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