基于激光跟踪仪的六自由度模块化机器人运动学标定  

Kinematics Calibration Six Degrees of Freedom Modular Robot based on Laser Tracker

作　　者：王艳孟 石成江[1] 王殿君[2] 刘淑晶[2] 李强[2] 张义万 

机构地区：[1]辽宁石油化工大学机械工程学院,辽宁抚顺113001 [2]北京石油化工学院机械工程学院,北京102617

出　　处：《新技术新工艺》2015年第10期77-81,共5页New Technology & New Process

基　　金：国家"八六三"高技术项目(2012AA041402);北京石油化工学院大学生研究训练(URT)计划项目(2014J00118)

摘　　要：在充分调研国内外机器人标定方法的基础上,提出了一种基于激光跟踪仪的机器人标定的方法,即直接标定法。运用微分变换方法建立了六自由度模块化机器人误差模型,并对建立的误差模型进行验证。利用激光跟踪仪直接测量机器人位姿进行标定试验,确定机器人末端位姿与运动学参数误差的关系,把得到的机器人运动学几何参数偏差补偿到控制系统软件中,对其中的运动学方程加以修正,然后对机器人进行二次标定。标定前后数据对比证明,机器人运动精度提升了50%。On the basis of the full research on domestic and overseas calibration methods of robots, a robot calibration method based on laser tracker is proposed, and it is named the direct calibration method. Use differential transform method to establish six degrees of freedom of the modular robot error model, and verify the error model. Use laser tracker directly measure the position and posture to do robot calibration experiment, determine the relationship of the position and posture of the end of the robot and the error of kinematics parameter. Put the error of robot kinematics geometry parameters into the control system software to compensate the original values, on which the kinematics equation is modified. Then we calibrate the robot in the second time. The contrast of data before and after calibrating proves that the robot motion accuracy has in- creased by 50%.

关 键 词：激光跟踪仪 直接标定法 误差模型 运动学方程 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]