六关节工业机器人TCP标定模型研究与算法改进  

TCP Calibration Model Research and Algorithm Improvement of Six Joint Industrial Robot

作　　者：周星 黄石峰 朱志红[2] ZHOU Xing;HUANG Shifeng;ZHU Zhihong(Foshan Institute of Intelligent Equipment Technology,Foshan 528225;National Numerical Control System Engineering Research Center,Huazhong University of Science and Technology,Wuhan 430074)

机构地区：[1]佛山智能装备技术研究院,佛山528225 [2]华中科技大学国家数控系统工程技术研究中心,武汉430074

出　　处：《机械工程学报》2019年第11期186-196,共11页Journal of Mechanical Engineering

基　　金：国家科技重大专项资助项目(2012ZX04001-022)

摘　　要：研究了六关节工业机器人工具坐标系原点TCP的标定原理,提出了TCP标定的解析化模型和几何模型,并对标定误差来源进行了综合性分析,定量分析了标定点数和标定位姿对TCP标定精度的影响。在经典四点法标定的基础上,引入了误差阈值的概念,提出一种改进的“五点选优TCP标定算法”,并进行了仿真验证和实物验证。验证结果表明,提出的标定算法能够有效筛选出误差偏大的点,对标定精度能进一步提高,可靠性也得到了进一步保证。The calibration principle of tool center point(TCP)of six-joint industrial robot is studied through the analytic model and geometric model and the source of calibration error is analyzed comprehensively.Furthermore,the influence of calibration point number and calibration pose on TCP calibration precision is analyzed quantitatively.Based on the classical algorithm of four point calibration,a concept of error threshold and an improved algorithm is proposed,named the priority selection from five calibration point.In addition,the simulation and experimental verification is carried out.The experimental results show that the faulty point can be picked out effectively,the calibration accuracy can be further improved and the reliability can be ensured by using the improved algorithm.

关 键 词：六关节工业机器人 TCP标定 标定点数 标定位姿 解析化模型与几何模型 选优 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]