基于距离精度的测量机器人标定模型及算法  

Measurement Robot Calibration Model and Algorithm Based on Distance Accuracy

作　　者：任永杰[1] 邾继贵[1] 杨学友[1] 叶声华[1] 

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072

出　　处：《计量学报》2008年第3期198-202,共5页Acta Metrologica Sinica

基　　金：国家自然科学基金(50327501);天津市应用基础研究重点项目(05YFJZJC01700)

摘　　要：对机器人绝对位置误差进行检测和补偿时,通常要涉及到测量系统坐标系与机器人基础坐标系间的坐标变换,由于这个变换很难精确测定,从而导致测量机器人的绝对位置精度降低。为了克服这一情况,可改用空间两点间的距离精度来衡量机器人的绝对位置精度,这样可简化测量过程。利用距离精度的定义,建立了机器人的距离误差模型,该模型可以避免坐标转换带来的误差,降低对测量系统的精度要求。同时,激光跟踪仪测试技术的应用,使得机器人的位姿测量变得非常容易。最后给出了此模型及算法在IRB2400机器人上的应用实例。When inspecting and compensating the absolute position error of the robot, it is usually necessary to determine the transformation between measurement coordinate and robot base coordinate. However it is difficult to determine the transformation, thus, the measurement accuracy of the robot absolute position is reduced. To overcome this shortcoming, it is useful to use the distance accuracy of the robot to evaluate the absolute position accuracy, which can simplify the measurement process. With the definition of distance accuracy, and the distance error model of the robot is set up, that model can avoid the coordinate transformation error and lower the accuracy request for measurement system. At the same time, with the application of laser tracker the position measurement of robot becomes very easy. In the end an example is presented, and the model and algorithm is applied to the IRB2400 robot.

关 键 词：计量学 测量机器人 绝对位置误差 距离精度 激光跟踪仪 

分 类 号：TB921[一般工业技术—计量学]