转动关节串联机器人运动学参数识别与补偿  

The Recognition and Compensation for Kinematic Parameters of Serial Robots in Rotating Pair

作　　者：向明 冯浩 黄雨晨 汪伟 XIANG Ming;FENG Hao;HUANG Yuchen;WANG Wei(School of Mechanical and Electrical Engineering,Jingdezhen Ceramic Institute,Jingdezhen Jiangxi 333001,China)

机构地区：[1]景德镇陶瓷大学大机械电子工程学院,江西景德镇333001

出　　处：《机械设计与研究》2022年第5期1-5,16,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(52065028);研究生创新基金项目(JCY202012)。

摘　　要：转动关节串联机器人由多个转动关节通过杆件顺序连接形成,其定位精度是重要的精度性能指标。为提高转动关节串联机器人定位精度,需对机器人运动学参数进行补偿。建立包含运动副误差与连杆误差的机器人机构模型,采用关节臂坐标测量机对机器人末端离散位置进行测量。通过机器人末端离散的位姿点拟合得到机器人各关节的拟合轴线,利用各关节拟合轴线的相对位置辨识出机器人连杆DH参数,最后对辨识出来的连杆DH参数进行补偿。该方法在LR7-710型机器人进行试验验证,机器人功能轨迹线上离散点平均位置误差由0.4706mm降低到0.0885mm,试验结果表明了该方法的有效性。The serial robot in rotating pairs is composed of multiple rotational joints connected sequentially by rods,and its positioning accuracy is an important precision performance index.In order to improve the positioning accuracy of the robot,the kinematic parameters of the industrial robot need to be compensated.The robot mechanism model of kinematic pair error and link error is established,and the position and orientation of the robot's end trajectory are measured by the portable coordinate measuring machine.The fitting axes of each joint are obtained by the line of the discrete pose points.The DH parameters of the link are identified using the relative positions of the fitting axes of each kinematic pair.Finally,the DH parameters of the identified link are compensated.The experimental results of this method on LR7-710 robot show that the positioning error of the robot circular trajectory decreases from 0.4454 mm to 0.0276 mm,and the experimental results show that the approach has good accuracy.

关 键 词：机器人精度 运动副误差 连杆误差 直纹面 球面像 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]