工业机器人三维在线自校准系统的研制  

Development of a 3D Online Self Calibration Device for Industrial Robots

作　　者：黄雷[1] 窦艳红[1] 樊宇[1] 赵梓朝 贺志超[1] 张爽[2] HUANG Lei;DOU Yanhong;FAN Yu;ZHAO Zizhao;HE Zhichao;ZHANG Shuang(Jilin Institute of Metrology,Changchun 130103,China;Changchun Institute of Technology,Changchun 130000,China)

机构地区：[1]吉林省计量科学研究院,长春130103 [2]长春工程学院,长春130000

出　　处：《计量科学与技术》2022年第2期3-8,共6页Metrology Science and Technology

基　　金：国家重点研发计划项目(2018YFF0212702);吉林省科技发展计划项目(20200401107GX,20190302024GX)。

摘　　要：针对工业机器人校准成本与校准精度难以平衡的问题,研究了一种针对工业机器人的三维低成本高精度接触式自校系统。该系统的三维校准器安装于机器人末端位置(TCP),采用三个互相正交的高精度位置传感器,通过研究工业机器人D-H参数校准算法,并对专用四球校准台精密迭代测量,可实现对工业机器人D-H参数的低成本、高精度在线自校准。通过与激光跟踪仪进行验证试验,各测量点的最大E_(n)值为0.63,小于1,验证结果满意。Aiming at the problem of balancing the cost and accuracy in calibration of industrial robots,a low-cost three-dimensional high-precision contact self-calibration system for industrial robots was developed.The three-dimensional calibrator is installed in the end position of the robot(TCP).Using three orthogonal high-precision position sensors,the D-H parameters of industrial robots can be calibrated online with low cost and high precision by the calibration algorithm of D-H parameters of industrial machines and precise iterative measurement of a special four ball calibration table.A comparison with a laser tracker showed that the maximum E_(n)value of each measurement point was 0.63 and the comparison result was satisfactory.

关 键 词：计量学 工业机器人 在线自校准 高精度 三维校准器 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]