多自由度机器人参数标定及冗余参数剔除方法  

Parameter calibration and method of redundant-parameter rejection for multi-freedom robots

作　　者：常文钰 方盈盈 张磊[3,4] 唐自新 张大伟[3,4] 任明法 CHANG Wen-yu;FANG Ying-ying;ZHANG Lei;TANG Zi-xin;ZHANG Da-wei;REN Ming-fa(Engineering Mechanics,Faculty of Vehicle Engineering and Machanics,Dalian University of Technology,Dalian 116024;Aviation Industry Helicopter Research and Development Institute,Tianjin 300450;Being Institute of Spacecraft System Engineering,China Academy of Space Techndogy,Beijing 100094;Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications,Beijing 100094)

机构地区：[1]大连理工大学运载工程与力学学部工程力学系,辽宁大连116024 [2]航空工业直升机设计研究所,天津300450 [3]中国空间技术研究院北京空间飞行器总体设计部,北京100094 [4]空间智能机器人系统技术与应用北京市重点实验室,北京100094

出　　处：《机械设计》2020年第5期1-7,共7页Journal of Machine Design

摘　　要：为提高现有机器人末端位置的定位精度,文中提出一种基于D-H参数标定的冗余参数剔除方法。对一般多自由度机器人的雅克比矩阵列向量相关性进行分析,将得到列向量相关性关系式中相关性系数绝对值最大项对应的参数作为冗余参数剔除,该剔除方法可以保证参数辨识的可靠性,提高定位精度。在该方法进行冗余性参数分析的基础上进行后续标定,可获得更好的收敛性。In this article, in order to improve the positioning accuracy at the terminal of existing robots, the method of redundant-parameter rejection based on D-H parameter calibration is worked out. The analysis is conducted on the correlation of the Jacobian matrix column vector of multi-freedom robots. The parameter corresponding to the largest absolute value of the correlation coefficient in the equation of column vector correlation is rejected as the redundant parameter. This method ensures the reliability of parameter identification and enhances the positioning accuracy. In addition, with the aid of this method, the redundant parameters are analyzed, and thus better convergence can be ensured in the subsequent calibration.

关 键 词：多自由度机器人 参数标定 冗余参数 剔除方法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]