一种基于指数积的移动机械臂联合标定方法  

A joint calibration method of mobile manipulator based on product of exponential

作　　者：陈新伟 范崇山 孙凤池[2] 秦岩丁 王鸿鹏[3,4] CHEN Xin-wei;FAN Chong-shan;SUN Feng-chi;QIN Yan-ding;WANG Hong-peng(College of Computer and Control Engineering,Minjiang University,Fuzhou 350108,China;College of Software,Nankai University,Tianjin 300353,China;College of Artificial Intelligence,Nankai University,Tianjin 300353,China;Shenzhen Research Institute of Nankai University,Shenzhen 518028,China;IStrong Technology Co.,LTD.,Fuzhou 350108,China)

机构地区：[1]闽江学院计算机与控制工程学院,福州350108 [2]南开大学软件学院,天津300353 [3]南开大学人工智能学院,天津300353 [4]南开大学深圳研究院,广东深圳518028 [5]四创科技有限公司,福州350108

出　　处：《控制与决策》2023年第6期1586-1592,共7页Control and Decision

基　　金：国家重点研发计划项目(2018YFB1307601);国家自然科学基金项目(61973173,91848203);天津市新一代人工智能科技重大专项项目(18ZXZNGX00340);工业机器人应用福建省高校工程研究中心(闽江学院)开放课题项目(MJUKF-IRA1904).

摘　　要：提出一种基于指数积的移动机械臂联合标定方法,以实现移动平台和机械臂两者间位姿标定与机械臂运动学参数标定模型的统一.机械臂运动学参数标定使用最多的是基于D-H参数法,但D-H参数法无法克服相邻关节平行或接近平行时的奇异性问题,以及建模过程复杂、建模后的模型通用性差等问题.基于指数积的移动机械臂联合标定方法建模时不会因为关节轴平行而出现奇异性问题,建模过程简单.通过对整个系统的运动学方程进行微分运算,获得末端位姿误差和移动机械臂零位状态旋量误差及关节旋量误差的线性化模型.利用伴随矩阵方式建立关节旋量理论值与关节旋量实际值的关系,并通过改变伴随矩阵实现基于最小二乘法的参数辨识计算过程中参数更新.使用高精度激光跟踪仪作为测量工具,通过实验验证所提出方法的有效性.This paper proposes a joint calibration method for a mobile manipulator based on product of exponential,to realize the unification of the pose calibration and the kinematic parameter calibration model of the manipulator between the mobile platform and the manipulator.The most used kinematic parameter calibration of robotic arms is based on the D-H parameter method,but the D-H parameter method cannot overcome the singularity problem when the adjacent joints are parallel or nearly parallel,and the modeling process is complicated and the model after modeling is poorly generalized.Therefore,this paper proposes a product of exponential based joint calibration method for the mobile manipulator,which does not cause singularity problems due to the parallelism of joint axes and has a simple modeling process.The method obtains the linearized models of the end position error,the zero position state rotational error and joint rotational error of the mobile arm by differentiating the kinematic equations of the whole system.The method establishes the relationship between the theoretical and actual values of joint spins by means of the concomitant matrix,and realizes the parameter update during the calculation of parameter identification based on the least squares method by changing the concomitant matrix.Using a high-precision laser tracker as the measurement tool,the effectiveness of the proposed method is demonstrated through experiments.

关 键 词：指数积(POE) 移动机械臂 D-H参数 联合标定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]