基于改进IGG3权函数距离误差模型的工业机器人标定  

Industrial Robot Calibration Based on Improved IGG3 Weight Function of Distance Error Model

作　　者：张恩政[1] 唐宁敏 陈刚 刘翠苹 ZHANG Enzheng;TANG Ningmin;CHEN Gang;LIU Cuiping(Precision Measurement Laboratory,Zhejiang Sci-Tech University,Hangzhou,310018;Robotics Laboratory,Quality and Technical Supervision and Testing Institute of Hangzhou,Hangzhou,310019;Hangzhou SIASUN Robot & Automation Co.,Ltd.,Hangzhou,311225)

机构地区：[1]浙江理工大学精密测量实验室,杭州310018 [2]杭州市质量技术监督检测院机器人实验室,杭州310019 [3]杭州新松机器人自动化有限公司,杭州311225

出　　处：《中国机械工程》2021年第13期1539-1546,共8页China Mechanical Engineering

基　　金：国家重点研发计划(2018YFF0212703)。

摘　　要：在工业机器人的标定过程中,测量粗差数据会对标定结果精度产生影响,为此,提出了一种基于改进IGG3权函数距离误差模型的工业机器人标定方法,将改进的IGG3权函数最小二乘辨识算法用于工业机器人距离误差标定中,以进一步提高工业机器人的标定精度。以SR4C型工业机器人为研究对象,建立了机器人距离误差数学模型,进行了IGG3权函数最小二乘辨识算法的理论研究。构建了机器人标定实验系统,进行了基于改进IGG3权函数距离误差模型的工业机器人标定实验,实验结果表明,所提方法可有效减小粗差数据对标定精度的影响。该方法可用于工业机器人标定和校准领域,以提高工业机器人定位精度。In calibration processes of industrial robots,measurement gross error data might have effects on the accuracy of calibration results,therefore,an industrial robot calibration method was proposed based on improved IGG3 weight function of distance error model,which was to further improve calibration accuracy of industrial robots by using improved IGG3 weight function least square identification algorithm.The SR4C industrial robot was taken as the research object,the mathematical model of robot distance error was established,the least square identification algorithm of IGG3 weight function was studied theoretically.A robot calibration experimental system was constructed and calibration experiments were performed based on improved IGG3 weight function of distance error model,the experimental results show that the proposed method may effectively reduce the effects of gross error data on the calibration accuracy.The proposed method may be used in the field of industrial robot calibration to improve the positioning accuracy of industrial robots.

关 键 词：工业机器人 IGG3权函数 距离误差 运动学标定 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]