基于遗传算法的串联机械臂运动学参数标定  

KINEMATIC PARAMETER CALIBRATION OF A SERIAL MANIPULATOR BASED ON GENETIC ALGORITHM

作　　者：王琨[1] 骆敏舟[2,3] 曹毅[2,3] 李可[2,3] 张秋菊[2,3] 

机构地区：[1]江南大学机械工程学院江苏省食品先进制造装备技术重点实验室,无锡214122 [2]江南大学机械工程学院,无锡214122 [3]中国科学院先进制造技术研究所,常州213164

出　　处：《系统科学与数学》2015年第1期19-30,共12页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然科学基金(50905176);中央高校基本科研业务费专项资金(JUSRP11456);江苏省食品先进制造装备技术重点实验室开放(FM-2014-05)资助课题

摘　　要：对机械臂的连杆参数进行标定可以有效减小由运动学参数不准确引起的机械臂定位误差.文章提出一种基于遗传算法的机械臂关节参数标定方法.首先建立机械臂运动学模型和误差模型,得到关节变量误差的表达式.通过NDI三维动态位移测量系统检测机械臂末端执行器的真实位姿以及各个关节实际旋转角度,作为样本.构建遗传算法的适应度函数,采用遗传算法计算出各关节变量的误差.最后,将该误差用于补偿六自由度串联机械臂真实的连杆参数,多组实验数据证明应用标定后的连杆参数完成机械臂的定位控制可以有效提高机械臂的绝对定位精度.The parameter identification techniques are effective for decreasing the position and orientation errors of the end-effector which are induced by the inac- curate kinematics parameters of the manipulator. This paper presents a joint pa- rameters identification method of the manipulator based on the genetic algorithms. The kinematics model and the error model of the manipulator are firstly built, and the expression of errors of joint parameters is obtained. Then actual positions and postures of the manipulator, as well as the joint rotation angles are measured by the NDI 3D dynamic displacement measurement system, and recorded for the fol- lowing experiments. Moreover, the fitness function of the genetic algorithms is built, and the errors of the joint parameters are estimated. Finally, the errors are used to compensate the values of the designed parameters of the 6-DOF serial manipulator, and numerical experimental results demonstrate that the method of the applying the calibrated parameters in the control system can effectively improve the positioning accuracy of the robot.

关 键 词：串联机械臂 运动学模型 遗传算法 参数标定. 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]