基于位姿约束的工业机器人快速标定系统研究  

Research on the Rapid Calibration System of Industrial Robot Based on Pose Constraint

作　　者：张新星[1] 王辉 张元祥 ZHANG Xin-xing;WANG Hui;ZHANG Yuan-xiang(School of Mechanical and Electrical Engineering,Zhangzhou Vocational and Technical College,Zhangzhou,Quzhou 324000,China;School of Automation Science and Engineering,South China University of Technology,Guangzhou 510640,China;School of Mechanical Engineering,Zhangzhou University,Zhangzhou,Zhejiang Quzhou 324000,China)

机构地区：[1]衢州职业技术学院机电工程学院,浙江衢州324000 [2]华南理工大学自动化科学与工程学院,广东广州510640 [3]衢州学院机械工程学院,浙江衢州324000

出　　处：《机械设计与制造》2021年第8期291-294,共4页Machinery Design & Manufacture

基　　金：浙江省自然科学基金(Y406234)—直接甲醇燃料电池纳米钛网基阳极的研究;国家自然科学基(50975259)—颗粒增强涂层材料损伤与破坏的多尺度模拟与实验研究。

摘　　要：工业机器人在使用过程中,实际参数与理论参数之间的偏差在一定程度上影响其本体的绝对定位精度。若能精确地标定出机器人本体的零位参数,在很大程度上就能提高机器人的定位精度。虽然依靠常规的激光跟踪仪和轴销方法对工业机器人进行零位标定具有一定的成熟度,但是两种标定方法具有时间较长和步骤繁琐等缺点难以普及。鉴于此,针对传统机器人模型进行研究,提出了一种基于位姿约束的工业机器人快速标定算法。依靠其相应的零位模型能够较为精确的标定机器人的零位参数,分别对轴销和快速零位标定设备标定出的零位结果进行分析与比较。实验结果表明,采用快速零位标定设备进行标定在精度上与采用轴销接近,在标定时间和设备成本远低于激光跟踪仪。该方法在普及使用和市场推广上较有重大的意义。In the process of using industrial robots,the deviation of actual and theoretical parameters partly affects the absolute positioning accuracy.If the zero parameters are calibrated accurately,the positioning accuracy would be greatly improved.Although the conventional methods of zero calibration for industrial robots based on laser tracker and shaft pin are relatively mature,it is difficult to be widely used because of the shortcomings such as long time,cumbersome steps and so on.In view of this,a traditional robot model is studied and a fast calibration algorithm for industrial robot based on pose constraint is proposed.According to its corresponding zero model,the zero position parameters of the robot can be accurately calibrated,and the results calibrated by the shaft pin and the fast zero calibration device are analyzed and compared.The experimental results show that calibration with fast zero calibration equipment is close to the method using the shaft pin in calibration accuracy,,and the cost of calibration time and equipment is much lower than the laser tracker.

关 键 词：工业机器人 标定设备 零位标定 零位模型 

分 类 号：TH16[机械工程—机械制造及自动化]