基于距离误差的服务机器人运动学参数标定研究  

Research on kinematic calibration of service robot based on distance error

作　　者：姚兴田[1] 施伟杰[1] 张磊[1] 徐丹[1] 左骏秋[1] 

机构地区：[1]南通大学机械工程学院,南通226019

出　　处：《现代制造工程》2017年第9期36-41,共6页Modern Manufacturing Engineering

基　　金：江苏省自然科学基金项目(BK20131205);2012江苏省"青蓝工程"优秀青年骨干教师培养对象项目

摘　　要：基于MDH(Modified Denavit-Hartenberg)模型,建立自主研发的服务机器人单个关节误差模型,用空间两点间的距离误差衡量机器人的绝对定位精度,并结合建立的单关节误差模型,推导了基于距离误差的运动学标定模型。运用该标定模型不仅可以简化测量过程,还可以避免测量系统与机器人系统之间的坐标转换,从而提高测量精度。最后,结合服务机器人部分解耦的结构特征来制定实验测量点的选取方案,并使用三坐标测量机测量其末端位置。实验结果表明,机器人的绝对定位精度得到明显提高。A single joint error model of service robot has been set up independently,which is based on MDH （Modified Denavit- Hartenberg） model, the distance between two points in space to measure the error absolute positioning accuracy of the robot, and combined with the establishment of a single joint error model, the kinematic calibration model based on distance error was de- duced. The kinematics calibration model not only can simplify the measurement process, but also avoids coordinate conversion between measurement system and robot system, and improves measurement accuracy. Finally, combined with the decoupling of the service robot structure characteristics to select the scheme of the experimental measurement points, and use three coordinates measuring instrument measuring the terminal position. Experimental results show that the precision of the robot has been increased by more than 60%.

关 键 词：服务机器人 MDH模型 距离误差 参数标定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]