基于非线性优化的机器人坐标系标定方法  

Calibration method of robot coordinate system based on nonlinear optimization

作　　者：任瑜[1,2] 郭志敏[2] 张丰[2] 刘芳芳[2] 傅云霞[2] REN Yu;GUO Zhimin;ZHANG Feng;LIU Fangfang;FU Yunxia(State Key Laboratory of Precision Measuring Technology and Instruments,Tianjin University,Tianjin 300072,China;Shanghai Institute of Measurement and Testing Technology,Shanghai 201203,China)

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072 [2]上海市计量测试技术研究院机械与制造计量测试技术研究所,上海201203

出　　处：《传感器与微系统》2020年第1期6-8,共3页Transducer and Microsystem Technologies

基　　金：国家重点研发计划资助项目(2017YFF0204802);国家质量监督检验检疫总局科技计划项目(2017QK091)

摘　　要：利用激光跟踪仪检测或校准工业机器人,须先对机器人坐标系进行标定。研究一种基于非线性优化的机器人坐标系标定方法。即在机器人末端固定一靶点,机器人运动多个位姿,激光跟踪仪对靶点进行测量,建立多位姿约束方程,并采用非线性优化算法同步标定机座坐标系及靶点坐标。该方法无须特殊机械工装,可适用于空载或末端带有各类执行器的工业机器人系统。经实验验证:相较于经典封闭解法,该方法采用非线性优化,具有良好的鲁棒性,可有效减小因机器人运动模型不准确引起的转换误差。Before testing or calibrating an industrial robot by a laser tracker,the calibration of the robot coordinate system is necessary.So a robot coordinate system calibration method based on nonlinear optimization is studied.Firstly,a target is fixed at the end of the robot,and the robot moves several poses,multi-pose constraint equation is established.while a laser tracker measures the target.Then,the base coordinate frame and the target coordinates are calibration synchronously by nonlinear optimization algorithm.This method does not require special mechanical tooling and can be applied to industrial robot systems with various actuators or no load at the end.The experimental results show that compared to the traditional closed-solution,the proposed method based on nonlinear optimization has good robustness and can effectively reduce the transformation error caused by the inaccuracy of the robot motion model.

关 键 词：机器人 坐标系转换 激光跟踪仪 位姿 非线性优化 Tsai-Lenz算法 

分 类 号：TH711[机械工程—测试计量技术及仪器] TP212[机械工程—仪器科学与技术]