轴线测量与迭代补偿的机器人几何参数标定  

Robot Geometric Parameters Calibration Based on Axis Measurement and Iterative Compensation

作　　者：温秀兰[1] 崔俊宇 芮平 张腾飞 康传帅 WEN Xiu-lan;CUI Jun-yu;RUI Ping;ZHANG Teng-fei;KANG Chuan-shuai(Automation Department, Nanjing Institute of Technology, Nanjing, Jiangsu 211167, China)

机构地区：[1]南京工程学院自动化学院,江苏南京211167

出　　处：《计量学报》2018年第4期449-454,共6页Acta Metrologica Sinica

基　　金：国家自然科学基金(51675259);江苏省高校自然科学基金(16KJB460013);江苏省普通高校专业学位研究生创新计划项目(SJLX16_0662)

摘　　要：为了提高串联工业机器人的绝对定位精度,提出了采用轴线测量与迭代补偿相结合的工业机器人几何参数标定方法。首先利用激光跟踪仪测量机器人单轴运动的轨迹,将所测轨迹点通过空间投影计算各轴线的位置;然后根据机器人模型参数的几何定义提取机器人模型的实际参数,并采用基于距离误差的迭代补偿方法进行参数标定效果验证。对埃夫特ER10L-C10工业机器人进行标定实验研究,结果表明:机器人绝对定位误差的最大值、平均值和标准差分别从补偿前的4.215、1.932和1.437 mm减小到补偿后的2.979、1.015和1.031 mm,该方法能够简单快速标定出机器人模型的实际几何参数,有效提高了机器人的绝对定位精度。In order to improve the absolute positioning accuracy of series industrial robots, the method of robot geometric parameters calibration based on axis measurement and iterative compensation is proposed. Firstly, robotic single axis motion trajectory is measured by the laser tracker and each axis position is computed by spatial projection method. Then, the actual parameters are extracted by the geometric meaning of the robot model parameters. The iterative compensation method based on distance errors is used to verify the results of the parameter calibration. Aifute ER10L-C10 industrial robot was used for calibration experiments and the experimental results shown that the maximum, average and standard deviation values of the absolute positioning errors are decreased from 4. 215,1. 932 and 1. 437 mm to 2. 979, 1. 015 and 1. 031 mm after calibration. It is proved that the method can calibrate the geometric parameters of the robot actual model quickly and easily and improve the absolute positioning accuracy of the robot.

关 键 词：计量学 绝对定位精度 串联工业机器人 几何参数标定 轴线测量法 迭代补偿 

分 类 号：TB92[一般工业技术—计量学]