机器人理论关节参数的标定方法及软件设计  

CALIBRATION METHOD AND SOFTWARE DESIGN FOR THEORETICAL LINK PARAMETERS OF ROBOTS

作　　者：周学才[1] 谢存禧[2] 

机构地区：[1]葛洲坝水电工程学院 [2]华南理工大学

出　　处：《机器人》1991年第4期47-54,共8页Robot

摘　　要：本文研究了机器人机构理论控制模型中采用的D-H关节参数的标定方法,并编制了相应的计算机应用软件。应用这一方法和软件标定机器人的理论关节参数,对机器人实施误差综合补偿,提高机器人的精度,是特别重要的。对PUMA 562机器人进行了实测与标定。A new calibration method for the D-H link parameters used in a theoretical model of robot mecha-nisms is studied in this paper.And based on the method, a corresponding computer software is then devel-oped. The application of this method and the software are useful and especially important for those pur-poses of enhancing robot accuracies and of carrying out a scheme or synthetical error compensation of ro-bots. In addition, an example of the calibration of the link parameters for PUMA 562 robot is supplied tothe paper, and some satisfactory results are obtained from the computer output.

关 键 词：机器人 关节参数 程序设计 标定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]