基于点面约束的双机器人协作运动坐标标定  

Coordinate calibration of cooperative motion of dual-robot based on point-surface constraints

作　　者：姜笑言 崔国华 周震 JIANG Xiaoyan;CUI Guohua;ZHOU Zhen(School of Mechanical and Automotive Engineering,Shanghai University of Engineering and Science,Shanghai 201600,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201600

出　　处：《河南科技学院学报（自然科学版）》2023年第5期45-53,共9页Journal of Henan Institute of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金(51775165)。

摘　　要：为了解决由于双机器人基坐标系标定时标定精度不高、效率较低而导致双机器人协作定位精度差的问题,论文提出一种基于点面接触约束的基座标定方式.该方式要求两机器人任意姿态运动至“点面”接触,记录当前双机器人关节信息,以平面为已知信息,依据接触点在面上,结合双机器人运动链约束,构建基座标定模型.结合克罗内克积将问题转化为超定方程组的求解问题,由于方程求解约束的局限性,因此以方程组求出的值为初值,并使用高斯-牛顿算法对旋转矩阵进行迭代优化,最终可以成功标定双机器人的基座,并利用数值仿真与实际物理实验验证了该标定方式的可行性与准确性.In order to solve the problem of low calibration accuracy and low efficiency in the calibration of the base coordinate system of two robots,a base calibration method based on point-surface contact constraint was proposed.In this method,the two robots are required to move to the“point-surface”contact in any attitude,and the joint information of the current two robots is recorded.The base calibration model is constructed according to the contact point on the surface and the motion chain constraints of the two robots,taking the plane as known information.Combined with the Kronecker product,the problem is finally transformed into the problem of solving overdetermined equations.Due to the limitation of solving the equations,the initial value of the equations is taken as the initial value,and the Gauss-Newton algorithm is used to iterate the optimization of the rotation matrix.Finally,the calibration of the double robot base can be successfully achieved.The feasibility and accuracy of the calibration method are verified by numerical simulation and physical experiment.

关 键 词：双机器人协作 基坐标系标定 克罗内克积 高斯-牛顿法 超定方程组 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]