基于轴线法与卡尔曼滤波的Baxter机器人标定  

Kinematic Calibration Method of Baxter Robot Based on Screw-axis Measurement and Kalman Filter

作　　者：陈勋漫 黄沿江[1,2] 张宪民 

机构地区：[1]华南理工大学广东省精密装备与制造技术重点实验室,广州510641 [2]华南理工大学机械与汽车工程学院,广州510641

出　　处：《振动．测试与诊断》2017年第5期970-977,共8页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金资助项目(51505151);广州市科技计划资助项目(2015090330001);机械系统与振动国家重点实验室课题资助项目(MSV 201605)

摘　　要：为提高Baxter机器人的绝对定位精度,首先根据机器人操作系统(robot operating system,简称ROS)的通用机器人模型统一机器人描述格式(unified robot description format,简称URDF)文件,详细分析了Baxter机器人的运动学模型,通过建立坐标间的约束条件进行模型简化,并提取待标定参数。针对机器人的多参数模型以及非几何参数影响较大的情况,提出一种结合轴线测量法与卡尔曼滤波系统辨识法的分步标定方法,分析了针对URDF模型的轴线法和卡尔曼滤波的标定原理,最后分别利用Matlab和激光跟踪仪进行仿真和实验验证。对Baxter机器人标定结果表明,该标定方法能够获得较准确的运动学几何参数,适用于ROS搭建的多几何参数的机器人及关节柔性较大的机械臂。The kinematics model of the robot is analyzed according to the generic robot unified robot description format(URDF)file on robotic operating system(ROS).To simplify the kinematic model,some constraints are set for easily extracting of the calibrated parameters.Since the calibration model has multiple parameters and robot′s non-geometric parameters have poor effect on the robot′s accuracy,a method of fractional steps combined screw-axis measurement identification method and Kalman filter calibration method is proposed.In order to verify the feasibility of the method,simulation and experiment are made respectively through Matlab and laser tracker.The calibration results of baxter robot show that the method mentioned can obtain a more accurate kinematic geometry parameter.It can be applied to the robot built on ROS or ones with large joint compliance.

关 键 词：Baxter机器人 运动学标定 轴线测量法 卡尔曼滤波 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH113.2[自动化与计算机技术—控制科学与工程]