基于改良的D-H模型的机器人运动参数标定方法  

The research of the robot motion parameters based on improved D-H model

作　　者：高瑞翔[1] 杨青 房鹤飞 Gao Ruixiang;Yang Qing;Fang Hefei(Shanghai Institute of Quality Inspection and Technical Research)

机构地区：[1]上海市质量监督检验技术研究院

出　　处：《上海计量测试》2018年第A01期48-50,共3页Shanghai Measurement and Testing

摘　　要：通过在D-H模型中添加一个旋转参数能够弥补其存在的缺陷。通过激光跟踪仪测量机器人末端位置,能够逆解算出相应的运动参数补偿值。经过补偿后,机器人的定位度得到了明显的改善。By adding a rotation parameter to the D-H model,the defect can be remedied.The laser tracker can be used to measure the end positions of the robot to calculate the motion compensation parameters.After compensation,the position accuracy of the robot has been improved obviously.

关 键 词：D-H模型 运动参数 机器人 定位精度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]