基于改进粒子群算法的机器人几何参数标定研究  

Study on robot geometric parameters calibration based on improved particle swarm algorithm

作　　者：温秀兰[1] 吕仲艳 贺顺[1] 王东霞[1] 康传帅 赵艺兵[1] WEN Xiulan;Lü Zhongyan;HE Shun;WANG Dongxia;KANG Chuanshuai;ZHAO Yibing(Automation Department,Nanjing Institute of Technology,Nanjing 211167)

机构地区：[1]南京工程学院自动化学院,南京211167

出　　处：《南京信息工程大学学报（自然科学版）》2019年第2期144-150,共7页Journal of Nanjing University of Information Science & Technology（Natural Science Edition）

基　　金：国家自然科学基金(51675259);江苏省自然科学基金(BK20170763);南京工程学院创新基金(ZKJ201609);江苏省研究生创新基金(SJCX18_0581)

摘　　要：为了提高机器人末端绝对定位精度,提出了基于改进粒子群算法(IPSO)的机器人几何参数标定方法.首先,为避免当机器人相邻两轴线平行或接近平行时,模型存在奇异性,建立了串联机器人MDH模型;其次,针对机器人几何参数标定特点,提出用改进粒子群算法优化标定机器人几何参数,其中粒子初始位置和速度由拟随机Halton序列产生,采用浓缩因子法修改粒子飞行速度,建立了用IPSO标定机器人几何参数目标函数数学模型,确立了用该算法优化标定几何参数的具体步骤.通过对ER10L-C10工业机器人仿真与实测标定,结果证实:采用该方法能够快速标定机器人几何参数,经标定后的机器人末端绝对定位精度有大幅提高.该算法简单,鲁棒性强,易于在工业机器人标定中推广应用.In order to improve the absolute positioning accuracy of a robot end-effector,a calibration method based on an improved particle swarm algorithm(IPSO)is proposed.Firstly,in order to avoid singularity in the model when two adjacent axes of the robot are parallel or close to parallel,the MDH model of series robot is founded.Secondly,according to the calibration features of robot geometric parameters,IPSO is used to optimize and calibrate the robot geometric parameters.The initial positions are generated based on Halton sequences and the particle velocity is modified by the constriction factor approach.The mathematical model of the objective function to calibrate robot geometric parameters based on IPSO is established,and detailed steps are provided for using IPSO to optimize geometric parameters.The results of the simulation and real calibration of the ER10L-C10 industrial robot show that the proposed method can quickly calibrate the geometric parameters of the robot,and the absolute positioning accuracy of the end-effector is greatly improved.The proposed algorithm is simple and robust,and is suitable to be popularized and applied in industry robot calibration.

关 键 词：机器人 几何参数标定 改进粒子群算法 绝对定位精度 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] TB92[自动化与计算机技术—计算机科学与技术]