基于运动学标定和空间插值的机器人定位误差补偿  

Robot positioning error compensation based on kinematic calibration and spatial interpolation

作　　者：邹方星 范百兴[1] 陈哲[1] Zou Fangxing;Fan Baixing;Chen Zhe(School of Geospatial Information,Strategic Support Force Information Engineering University,Zhengzhou 450001,China)

机构地区：[1]战略支援部队信息工程大学地理空间信息学院,郑州450001

出　　处：《电子测量技术》2024年第4期51-57,共7页Electronic Measurement Technology

摘　　要：绝对定位精度是衡量机器人性能的重要指标。为提升工业机器人的绝对定位精度,提出一种融合运动学标定和空间插值的定位误差分级标定的方法。首先基于D-H法建立机器人运动学模型,运用微分运动学理论建立机器人末端位置误差模型,结合IGG3权因子函数采用抗差岭估计辨识了运动学参数。而后基于机器人定位误差空间相似性特点,采用空间插值法对剩余误差进行补偿。最后通过实验对所提出的方法进行了验证。结果表明:机器人定位误差RMS值由补偿前的0.812 mm减小为0.049 mm,精度提高了93.97%。该方法能够有效减小机器人的绝对定位误差,提高定位精度。Absolute positioning accuracy is an important index to measure robot performance.In order to improve the absolute positioning accuracy of industrial robots,a method of positioning error classification based on kinematic calibration and spatial interpolation is proposed.Firstly,the kinematics model of the robot is established based on D-H method,and the error model of the end position of the robot is established by using differential kinematics theory.The kinematic parameters are identified by using the tolerance ridge estimation combined with IGG3 weight factor function.Then,based on the spatial similarity of robot positioning errors,the remaining errors are compensated by the spatial interpolation method.Finally,the proposed method is verified by experiments.The results show that the robot positioning error RMS decreases from 0.812 mm before compensation to 0.049 mm,and the accuracy is increased by 93.97%.This method can effectively reduce the absolute positioning error of the robot and improve the positioning accuracy.

关 键 词：工业机器人 分级标定 抗差岭估计 反距离权重插值 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]