3自由度并联机器人运动学标定方法研究  

Kinematic calibration method for parallel robot with 3 degree of freedom

作　　者：王新杰[1] 范国锋[1] 王才东[1] 

机构地区：[1]郑州轻工业学院机电学院,河南郑州450002

出　　处：《机械设计》2017年第12期76-81,共6页Journal of Machine Design

基　　金：河南省科技攻关资助项目(152102210353);河南省高等学校重点项目计划资助项目(17A460029);河南省高校科技创新团队资助项目(2012IRTSTHN013)

摘　　要：在分析常用机器人标定方法的基础上,结合3-R2H2S并联机器人的结构特点,提出了一种基于自学习方法的3自由度并联机器人参数标定方法。该标定方法把所有引起定位误差的影响因素均归结为机器人结构参数的变化,通过试验得到机器人的输入输出值,并将其代入机器人逆运动学方程中,反求出含修正系数的结构参数。利用标定后的结构参数建立机器人精确的逆运动学方程。运用MATLAB建立机器人的运动学模型,搭建机器人参数标定试验平台,并进行参数标定试验,将理论计算结果与3自由度并联机器人的实际运行结果进行比较分析。试验结果表明,该自学习标定方法可以获得精确的机器人逆运动学模型。Based on the analysis of the calibration method of robot and the structural characteristics of 3-R2 H2 S parallel robot,a new parameter calibration method for parallel robot with 3 degree of freedom is proposed. The calibration method assumes that the positioning errors caused by all the factors are attributed to the errors of the structural parameters of the robot.The robot input and output are obtained by experiment, and the input and output are substituted into the inverse kinematics equation of the robot, then modified structure parameters of the robot are calculated. And then, the inverse kinematics equation of the robot is built by using these modified structural parameters. The calibration model is established and simulated by MATLAB software. The parameter calibration experimental platform is built, parameters calibration experiment is worked out. The computational results are compared with the results of the experiment of the actual 3-DOF parallel robot. The results show that this calibration method can achieve a precise inverse kinematics model, and the calibration method has high calculation precision and environmental adaptability.

关 键 词：并联机器人 逆运动学 参数标定 定位精度 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]