示教机械臂运动学参数标定综述  

Review on kinematic parameters calibration of teaching manipulator

作　　者：张幼财 汪建晓[1] 秦磊 ZHANG You-cai;WANG Jian-xiao;QIN Eei(Department of Meehatronies Engineering,Foshan University,Foshan 528000,China;Foshan Kingpeng Robotics Technology Co.Ltd.,Foshan 528200,China)

机构地区：[1]佛山科学技术学院机电工程系,广东佛山528000 [2]佛山市新鹏机器人技术有限公司,广东佛山528200

出　　处：《佛山科学技术学院学报（自然科学版）》2018年第3期54-58,共5页Journal of Foshan University(Natural Science Edition)

基　　金：佛山市科技创新平台资助项目(gs54203)

摘　　要：主要从示教机械臂的运动学模型、位姿测量、参数辨识及误差补偿4个方面对机械臂运动学参数标定方法进行了分析总结。详细介绍了示教机械臂运动学参数标定流程中4个方面的特点、存在的问题以及研究现状,同时对示教机械臂运动学参数标定的具体应用以及发展趋势进行了简要论述。This paper was presented an overview about kinematic parameter calibration methods of teaching manipulator from four aspects： kinematic model, pose measurement, parameter calibration, and error compensation. The process of teaching manipulator kinematic parameter calibration about calibration characteristics, existing problems and research status were discussed particularly. This paper also proposed the application and development trend of teaching manipulator kinematic parameter calibration.

关 键 词：机械臂标定 运动学建模 位姿测量 参数辨识 误差补偿 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]