粒子滤波的智能机器人位置自标定算法  

Position Self Calibration Algorithm of Intelligent Robot Based on Particle Filter

作　　者：于飞[1] 姜燕 郑阶财 YU Fei;JIANG Yan;ZHENG Jie-cai(School of Sport Communication and Information Technology,Shandong Sport University,Shandong Ji'nan 250000,China;School of Computer Science and Technology,Qilu University of Technology,Shandong Jinan 250000,China)

机构地区：[1]山东体育学院体育传媒与信息技术学院,山东济南250000 [2]齐鲁工业大学计算机科学与技术学院,山东济南250000

出　　处：《机械设计与制造》2023年第8期219-223,共5页Machinery Design & Manufacture

基　　金：国家级自然科学基金—基于异构信息网络的社会化推荐系统研究(72004127)。

摘　　要：为了提升智能机器人位置自标定的精准度、稳定性,降低用时,设计基于粒子滤波的智能机器人位置自标定算法。根据智能机器人相邻连杆位置关系,描述机器人正运动学,通过粒子初始化、位置更新、权值更新、重组的粒子滤波方法标定机器人的模糊位置。根据三球座设备在机器人外部架构世界坐标系,将末端工具坐标系转换到世界坐标系中,令正运动学的起始点从基座变为三球座设备,根据机器人与设备间装配关系建立世界坐标系与基坐标系的变换矩阵,推导出位置自标定的线性模型,完成智能机器人位置自标定。仿真结果表明,该算法的自标定精准度较高、稳定性较高,标定用时较短,修正效果好,能满足快速标定需求。In order to improve the accuracy,stability and reduce the time of intelligent robot position self calibration,a position self calibration algorithm of intelligent robot based on particle filter is designed.According to the position relationship between adjacent links of intelligent robot,the forward kinematics of robot is described,and the fuzzy position of robot is calibrated by particle filter method of particle initialization,position update,weight update and reorganization.According to the world coordinate system of the three ball sochet equipment outside the robot,the coordinate system of the end tool is transformed into the world coordinate system,so that the starting point of the forward kinematics is changed from the base to the three ball socket equipment.According to the assembly relationship between the robot and the equipment,the transformation matrix between the world coordinate system and the base coordinate system is established,and the linear model of position self calibration is derived,complete the position self calibration of intelligent robot.The simulation results show that the algorithm has high self calibration accuracy,high stability,short calibration time and good correction effect,and can meet the needs of rapid calibration.

关 键 词：智能机器人 正运动学 粒子滤波 位置自标定 坐标系 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]