一种六自由度机器人运动参数标定方法的研究  

Research on a Calibration Method of Motion Parameters of 6-DOF Robot

作　　者：王红雨[1] 李道军 付邦胜[3] WANG Hongyu;LI Daojun;FU Bangsheng(School of Mechanical and Electrical Engineering,Zhengzhou Vocational College of Information Engineering,Zhengzhou Henan 450000,China;Department of Electrical and Electronic Engineering,Zhengzhou Technical College,Zhengzhou Henan 450121,China;School of Electronic Information,Zhongyuan Institute of Technology,Zhengzhou Henan 450007,China)

机构地区：[1]郑州信息工程职业学院机电工程学院,河南郑州450000 [2]郑州职业技术学院电气电子工程系,河南郑州450121 [3]中原工学院电子信息学院,河南郑州450007

出　　处：《机床与液压》2023年第5期74-81,共8页Machine Tool & Hydraulics

基　　金：2020年度河南省重点研发计划项目(2020HB054)。

摘　　要：针对六自由度机器人定位精度问题,在机器人运动学误差模型的基础上提出运动学参数标定方法。通过Levenberg-Marquardt算法实现机器人运动学参数偏差的预辨识,将这些辨识的参数偏差的次优值定义为初始个体分量的中心值,并利用差分进化算法完成精确的辨识,进而获得机器人运动学参数的较优值。为验证所提方法的有效性,采用激光跟踪器和数值模拟的方法进行了运动参数标定的实验研究,结果表明:所提出的运动学参数标定方法能显著提高六自由度机器人的定位精度。Aiming at the positioning accuracy of 6-DOF robot,a kinematic parameter calibration method was proposed based on the robot kinematic error model.The pre-identification of robot kinematics parameter deviation was realized by using Levenberg-Marquardt algorithm.The suboptimal value of these identified parameter deviations was defined as the central value of the initial individual component,and the differential evolution algorithm was used to complete the accurate identification,so as to obtain the better value of robot kinematics parameters.In order to verify the effectiveness of the proposed method,the experimental study of motion parameter calibration was carried out by using laser tracker and numerical simulation.The experimental results show that the proposed kinematic parameter calibration method can be used to significantly improve the positioning accuracy of 6-DOF robot.

关 键 词：六自由度机器人 运动参数标定 定位精度 参数辨识 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]