联合实验和仿真的机器人参数标定  

Robot parameters calibration combining experiment and simulation

作　　者：王栋[1] 曹彤[1] 宋虎[1] 刘达[2] 倪自强[2] 

机构地区：[1]北京科技大学机械工程学院,北京100083 [2]北京航空航天大学机器人研究所,北京100191

出　　处：《机电工程》2013年第10期1182-1187,共6页Journal of Mechanical & Electrical Engineering

基　　金：国家高技术研究发展计划("863"计划)资助项目(2009AA045301)

摘　　要：针对医疗机器人调试过程中必须通过可靠的方法获得准确关节参数的问题,将联合实验和仿真的机器人参数标定这一技术应用到机器人的调试过程中。开展了对医疗机器人结构和运动学模型的分析,建立了运动学模型和关节参数之间的关系,提出了联合实验和仿真以得到准确关节参数的方法;分别控制机器人的单一关节运动,并同时记录针尖点的位置坐标,利用最小二乘法对数据进行处理,得到了关节轴线的表达式和连接点的坐标,通过仿真得到了与实际样机高度吻合的运动学模型,并通过空间计算得到了准确的关节参数;最后以定位精度为评估指标,多次使用该方法对医疗机器人进行了实验验证。实验结果表明,机器人的最终精度均能锁定在1 mm以内,该方法具有可靠性与工程实用性。Aiming at the problem that the accurate joint paramenters must be obtained by reliable method during medical robot debugging process,the technology of robot calibration conbined experiment and simulation was applied in robot debugging.After the analysis of the structure and kinematics model of medical robt,the relationship between the kinematics model and the joint parameters was established,and the method that conbined experiment and simulation to get the accurate joint parameters was presented.Each joint of the robot was respectively controlled,and the position of tip point was recorded,and the data was processed with the least square method,then the expression of joint axis and the coordinate of the connection point were obtained.So the kinematics model highly consistented with the actual prototype was gotten with simulation,and the accurate joint parameters were obtained with space calculation.The positioning precision was regarded as evaluation index,and the method was repeated used to medical robot for experiment.The experimental results indicate that the final precision of the robot is all locked within 1 millimeter.The method is reliable and engineering practical.

关 键 词：机器人 参数标定 精度 仿真 

分 类 号：TH772[机械工程—仪器科学与技术] TP242.3[机械工程—精密仪器及机械]