一种基于视觉测量的SCARA机器人标定方法  

A SCARA Robot Calibration Method Based on Vision Measurement

作　　者：王文双 姚书杰 曾钰 谢启旋 Wang Wenshuang;Yao Shujie;Zeng Yu;Xie Qixuan(Guangzhou Intelligent Equipment Research Institute Co.,Ltd.,Guangzhou 510530,China;College of Engineering,South China Agricultural University,Guangzhou 510642,China)

机构地区：[1]广州智能装备研究院有限公司,广州510530 [2]华南农业大学工程学院,广州510642

出　　处：《机电工程技术》2023年第2期182-185,共4页Mechanical & Electrical Engineering Technology

摘　　要：为提高SCARA机器人的精度,以SCARA机器人的零点标定方法为研究对象,校正因机械加工误差、装配间隙误差和零件磨损等因素造成实际臂长与设计臂长的偏差,还有因SCARA机器人的大小臂没有完全重合在一条直线上造成实际零点位置与理论位置的偏差。通过相机和图像识别技术,精确地定位出标定器上两个辅助点的位置,依据SCARA机器人的正反解和两点法标定的方法,以此标定出零点的实际位置和机器人大小臂的实际长度。所提出的SCARA机器人零点标定方法操作简单,精度较高,与一般的零点标定方法相比,该方法不需要依靠昂贵的设备,能满足大部分情况下机器人的工作要求。实验结果表明,经过标定后,机器人的位置误差在0.06 mm以内,大臂的长度误差在0.03 mm以内,小臂的长度误差在0.025 mm以内。In order to improve the accuracy of SCARA robot,the zero calibration method of SCARA robot was taken as the research object to correct the deviation between the actual arm length and the design arm length caused by machining error,assembly clearance error and part wear,as well as the deviation between the actual zero position and the theoretical position caused by the incomplete reconnection of the large and small arms of the manipulator.The positions of the two auxiliary points on the calibrator were accurately located through the camera and image recognition technology.According to the positive and negative solution of SCARA robot and the calibration method of two-point method,the actual position of the zero point and the actual length of the manipulator were calibrated.The experimental results show that the method can effectively improve the accuracy of the robot.After calibration,the position error of the robot is less than 0.06 mm,the length error of the boom is less than 0.03 mm,and the length error of the jib is less than 0.025 mm.

关 键 词：零点标定 机械人标定 视觉测量 SCARA机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]