一种利用标定板的机械臂DH参数标定方法  

A Kind of Calibration Method for Robot Arm DH Parameter by Using Calibration Board

作　　者：杨源[1] 曹彤[1] 刘达[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,北京100083

出　　处：《机械传动》2017年第6期178-181,192,共5页Journal of Mechanical Transmission

摘　　要：提出了利用标定板对机械臂DH参数进行标定的方法,使末端执行器按顺序采样标定板的7个点,前3个点用于构建世界坐标系与机器人坐标系之间的关系,后4个点用于建立目标函数和误差方程。优化求解误差方程得到标定后的DH参数。最后通过重复定位精度验证该方法的有效性,使重复定位精度从4.68 mm提高至0.87 mm左右。该方法具有设备简单、操作简易等优点。The robot arm DH parameter calibration method based on calibration board is proposed, the 7 points of calibration board can be sampled by using the end effector in sequence, among which the first 3 points are used to construct the relationship between world and robot coordination system while the other 4 points are applied to establish objective function and error equation. The DH parameter after calibration can be obtained by optimization solution of error equation. At last, the effectiveness of this method is verified through repeated positioning accuracy, the repeated positioning accuracy can be improved from 4. 68 mm to 0. 87 mm. This method has the advantages of simple equipment and easy operation.

关 键 词：机械臂 DH 参数标定 标定板 重复定位精度 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]