一种新型机器人自标定装置及其算法  

The Calibration Algorithms for Industrial Robots Based on a Novel Self-calibration Device

作　　者：谷乐丰 杨桂林 方灶军 王仁成 郑天江 GU Lefeng;YANG Guilin;FANG Zaojun;WANG Rencheng;ZHENG Tianjiang(Zhejiang Key Laboratory,of Robotics and huelligent Equipment Technology,Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences,Ningbo 315201,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院宁波材料技术与工程研究所浙江省机器人与智能制造装备技术重点实验室,浙江宁波315201 [2]中国科学院大学,北京100049

出　　处：《机器人》2020年第1期100-109,共10页Robot

基　　金：NSFC-浙江两化融合基金(U1509202);国家重点研发计划(2017YFB1300400);装备预研领域基金(6140923010102);宁波市国际科技合作项目(2017D10023)。

摘　　要：针对传统基于几何约束的机器人自标定装置仅能对局部工作空间内的机器人位型进行标定测量的问题,提出了一种由安装于机器人末端的球心位置测量装置和可移动球杆组成的新型便携式机器人自标定装置,通过利用球面约束和距离约束,可在较大工作空间内对机器人进行标定测量,从而提高标定结果的可靠性.根据可移动球杆的单、双球布置方式,分别建立了基于向量差和距离差的2种机器人自标定模型及其算法.通过采用局部指数积公式并引入位置伴随变换矩阵,简化了2种自标定模型,从而降低了对运动学方程线性化的计算量.最后,对一种6自由度串联机器人进行了仿真实验,实验结果表明2种自标定算法均能够快速收敛,验证了2种算法的有效性和鲁棒性.Considering the problem that the conventional robot self-calibration device based on geometric constraints can only measure and calibrate partial robot poses in the local robot workspace, a novel portable robot self-calibration device is proposed, which consists of a ball center measuring device installed at the flange of robot and a movable ball bar. By utilizing spherical and distance constraints, it can measure and calibrate a large range of robot targets in large workspace, which improves the reliability of the calibration results. According to the single-ball and double-ball arrangements of the movable ball bar, two robot self-calibration models as well as algorithms based on vector difference and distance difference are established respectively. By using the local product of exponential(POE) formula and introducing position adjoint transformation matrix,both the self-calibration models are simplified, which reduces the linearizing calculation of the kinematic equations. Finally,a simulation experiment on a 6-DOF(degree of freedom) serial manipulator is implemented and the simulation results show that both the proposed self-calibration algorithms can converge quickly, which verifies that both the calibration algorithms are effective and robust.

关 键 词：自标定 局部指数积公式 运动学标定 几何约束 串联机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]