利用姿态约束的并联机器人运动学标定方法  

Method for Kinematic Calibration of Parallel Robots Using Orientation Constraint

作　　者：任晓栋[1,2] 冯祖仁[1,2] 苏承平[1,2] 

机构地区：[1]西安交通大学系统工程研究所,西安710049 [2]西安交通大学机械制造系统工程国家重点实验室,西安710049

出　　处：《西安交通大学学报》2008年第12期1445-1449,共5页Journal of Xi'an Jiaotong University

基　　金：国家重点基础研究发展规划资助项目(2007CB311006);国家高技术研究发展计划资助项目(2006AA04Z222)

摘　　要：为了提高并联机器人运动精度,提出了一种利用姿态约束的运动学标定方法.借助一个双轴倾角仪,建立了机器人末端2个姿态角恒定约束,根据这种约束构造了相应的辨识模型和标定算法.标定算法得益于倾角仪重复精度和分辨率高于位置精度的特点,不受其位置精度和量程的限制,同时可避免施加机械约束给并联机器人主动关节带来特殊要求.仿真计算表明,在杆长测量精度为2μm、倾角仪重复精度为0.001°的条件下,经过标定后并联机器人的位置精度可达0.1 mm,姿态精度可达0.01°.A new calibration method using orientation constraint is presented to improve the accuracy of parallel robots. With the use of a commercial biaxial inclinometer, two attitude angles of the end-effecter are kept constant at different measurement configurations. The corresponding calibration algorithm is built through the orientation constraint. Instead of positioning accuracy, repeatability and resolution of the inclinometer are used to construct the orientation constraint, and the measurement range of the inclinometer has no effect on the calibration method. Moreover, the actuators of the parallel robots do not need to operate in passive mod because the orientation constraint is not constructed by the mechanical locking device. Simulation results show that the position accuracy and the orientation accuracy reach 0. 1 mm and 0. 01°, respectively, with measurement precision on leg lengths of 2 μm and repeatability on inclinometer of 0. 001°.

关 键 词：姿态约束 运动学标定 并联机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]